@article{ART002796536},
author={LEEJONGLAK},
title={Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment},
journal={Journal of Internet of Things and Convergence},
issn={2466-0078},
year={2021},
volume={7},
number={4},
pages={29-34},
doi={10.20465/KIOTS.2021.7.4.029}
TY - JOUR
AU - LEEJONGLAK
TI - Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment
JO - Journal of Internet of Things and Convergence
PY - 2021
VL - 7
IS - 4
PB - The Korea Internet of Things Society
SP - 29
EP - 34
SN - 2466-0078
AB - In order to apply reinforcement learning to a robot in a real environment, it is necessary to use simulation in a virtual environment because numerous iterative learning is required. In addition, it is difficult to apply a learning algorithm that requires a lot of computation for a robot with low-spec. hardware. In this study, ML-Agent, a reinforcement learning frame provided by Unity, was used as a virtual simulation environment to apply reinforcement learning to the obstacle collision avoidance problem of mobile robots with low-spec hardware. A DQN supported by ML-Agent is adopted as a reinforcement learning algorithm and the results for a real robot show that the number of collisions occurred less then 2 times per minute.
KW - Mobile Robot;Reinforcement Learning;ML-Agent
DO - 10.20465/KIOTS.2021.7.4.029
ER -
LEEJONGLAK. (2021). Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment. Journal of Internet of Things and Convergence, 7(4), 29-34.
LEEJONGLAK. 2021, "Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment", Journal of Internet of Things and Convergence, vol.7, no.4 pp.29-34. Available from: doi:10.20465/KIOTS.2021.7.4.029
LEEJONGLAK "Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment" Journal of Internet of Things and Convergence 7.4 pp.29-34 (2021) : 29.
LEEJONGLAK. Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment. 2021; 7(4), 29-34. Available from: doi:10.20465/KIOTS.2021.7.4.029
LEEJONGLAK. "Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment" Journal of Internet of Things and Convergence 7, no.4 (2021) : 29-34.doi: 10.20465/KIOTS.2021.7.4.029
LEEJONGLAK. Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment. Journal of Internet of Things and Convergence, 7(4), 29-34. doi: 10.20465/KIOTS.2021.7.4.029
LEEJONGLAK. Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment. Journal of Internet of Things and Convergence. 2021; 7(4) 29-34. doi: 10.20465/KIOTS.2021.7.4.029
LEEJONGLAK. Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment. 2021; 7(4), 29-34. Available from: doi:10.20465/KIOTS.2021.7.4.029
LEEJONGLAK. "Obstacle Avoidance of Mobile Robot Using Reinforcement Learning in Virtual Environment" Journal of Internet of Things and Convergence 7, no.4 (2021) : 29-34.doi: 10.20465/KIOTS.2021.7.4.029