MULTI-ROBOT COOPERATIVE TRANSPORTATION OF OBJECTS USING MODIFIED Q-LEARNING

被引：0
|
作者：
Siriwardana, Pallege Gamini Dilupa [1 ]
de Silva, Clarence [1 ]
机构：
[1] Univ British Columbia, Dept Mech Engn, Ind Automat Lab, Vancouver, BC V6T 1W5, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION - 2010, VOL 8, PTS A AND B | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In cooperative multi-robot object transportation, several autonomous robots navigate cooperatively in either a static or a dynamic environment to transport an object to a goal location and orientation. The environment may consist of both fixed and removable obstacles and it will be subject to uncertainty and unforeseen changes within the environment. More than one robot may be required for handling heavy and large objects. This paper presents a modified Q-learning approach for object transportation utilizing cooperative and autonomous multiple mobile robots. A modified version of Q-learning is presented, which employs for effective robot coordination. A solution to the action selection conflicts of the robots is presented, which helps to improve the real time performance and robustness of the system. As required in the task, the paper presents an algorithm for object pose estimation, by utilizing the laser range finder and color blob tracking. The developed techniques are implemented in a multi-robot system in laboratory. Experimental results are presented to demonstrate the effectiveness of the developed multi-robot system and its underlying methodologies.
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页码：745 / 753
页数：9
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