A reinforcement learning-based method for the cooperative control of mobile robots

강화 학습에 의한 소형 자율 이동 로봇의 협동 알고리즘 구현

This paper proposes methods for the cooperative control of multiple mobile robots and constructs a robotic soccer system in which the cooperation will be implemented as a pass play of two robots. To play a soccer game, elementary actions such as shooting and moving have been designed, and Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulation, learning is successful in case of deliberate initial arrangements of ball and robots, thereby cooperative work can be accomplished.