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Q-learning algorithm for navigation control of autonomous blimp

Conference Paper


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Abstract


  • In this research, an autonomous control system for blimp navigation was developed using reinforcement

    learning algorithm. The aim of this research is to provide a blimp the capability to approach a goal

    position autonomously in an environment, where the dynamical models of the blimp and the environment are unknown. Webots™ Robotics Simulator (WRS) was used to simulate and evaluate the control strategy obtained through a one-step Q-learning method. The simulation data generated via WRS were then processed and analysed within MATLAB. The simulation results showed that the control policy acquired from Q-learning is much more effective compared to the traditional control methods.

Publication Date


  • 2009

Citation


  • Liu, Y., Pan, Z., Stirling, D. A. & Naghdy, F. 2009, ''Q-learning algorithm for navigation control of autonomous blimp'', Australasian Conference on Robotics and Automation, ARAA, Sydney, Australia, pp. 1-7.

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=1641&context=engpapers

Ro Metadata Url


  • http://ro.uow.edu.au/engpapers/604

Start Page


  • 1

End Page


  • 7

Abstract


  • In this research, an autonomous control system for blimp navigation was developed using reinforcement

    learning algorithm. The aim of this research is to provide a blimp the capability to approach a goal

    position autonomously in an environment, where the dynamical models of the blimp and the environment are unknown. Webots™ Robotics Simulator (WRS) was used to simulate and evaluate the control strategy obtained through a one-step Q-learning method. The simulation data generated via WRS were then processed and analysed within MATLAB. The simulation results showed that the control policy acquired from Q-learning is much more effective compared to the traditional control methods.

Publication Date


  • 2009

Citation


  • Liu, Y., Pan, Z., Stirling, D. A. & Naghdy, F. 2009, ''Q-learning algorithm for navigation control of autonomous blimp'', Australasian Conference on Robotics and Automation, ARAA, Sydney, Australia, pp. 1-7.

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=1641&context=engpapers

Ro Metadata Url


  • http://ro.uow.edu.au/engpapers/604

Start Page


  • 1

End Page


  • 7