TY - GEN
T1 - Real-time robot path planning around complex obstacle patterns through learning and transferring options
AU - Saha, Olimpiya
AU - Dasgupta, Prithviraj
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/29
Y1 - 2017/6/29
N2 - We consider the problem of path planning in an initially unknown environment where a robot does not have an a priori map of its environment but has access to prior information accumulated by itself from navigation in similar but not identical environments. To address the navigation problem, we propose a novel, machine learning-based algorithm called Semi-Markov Decision Process with Unawareness and Transfer (SMDPU-T) where a robot records a sequence of its actions around obstacles as action sequences called options which are then reused by it to learn suitable, collision-free maneuvers around more complex obstacles in future. Our results illustrate that SMDPU-T takes 24% planning time and 39% total time to solve same navigation tasks as compared to a recent, sampling-based path planner.
AB - We consider the problem of path planning in an initially unknown environment where a robot does not have an a priori map of its environment but has access to prior information accumulated by itself from navigation in similar but not identical environments. To address the navigation problem, we propose a novel, machine learning-based algorithm called Semi-Markov Decision Process with Unawareness and Transfer (SMDPU-T) where a robot records a sequence of its actions around obstacles as action sequences called options which are then reused by it to learn suitable, collision-free maneuvers around more complex obstacles in future. Our results illustrate that SMDPU-T takes 24% planning time and 39% total time to solve same navigation tasks as compared to a recent, sampling-based path planner.
UR - http://www.scopus.com/inward/record.url?scp=85026883764&partnerID=8YFLogxK
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U2 - 10.1109/ICARSC.2017.7964088
DO - 10.1109/ICARSC.2017.7964088
M3 - Conference contribution
AN - SCOPUS:85026883764
T3 - 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017
SP - 278
EP - 283
BT - 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017
A2 - Marques, Lino
A2 - Bernardino, Alexandre
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017
Y2 - 26 April 2017 through 28 April 2017
ER -