Iterative SARSA: The Modified SARSA Algorithm for Finding the Optimal Path

Abstract

This paper presents a thorough comparative analysis of various reinforcement learning algorithms used by autonomous mobile robots for optimal path finding and, we propose a new algorithm called Iterative SARSA for the same. The main objective of the paper is to differentiate between the Q-learning and SARSA, and modify the latter. These algorithms use either the on-policy or off-policy methods of reinforcement learning. For the on-policy method, we have used the SARSA algorithm and for the off-policy method, the Q-learning algorithm has been used. These algorithms also have an impacting effect on finding the shortest path possible for the robot. Based on the results obtained, we have concluded how our algorithm is better than the current standard reinforcement learning algorithms.