Fuzzy Q-learning obstacle avoidance algorithm of humanoid robot in unknown environment

Abstract

This paper proposes a fuzzy Q-learning (FQL) algorithm to solve the problem of the robot obstacle avoidance in unknown environment. FastSLAM algorithm is used to localize the position of the robot. Traditional Q-learning algorithm, optimized Q-learning algorithm, FQL algorithm are compared. The simulation results show that FQL algorithm has a faster learning speed than other two algorithms and the results demonstrate that the fuzzy Q-learning obstacle avoidance algorithm is effective.