Integration of an Inverse Optimal Neural Controller with Reinforced-SLAM for Path Panning and Mapping in Dynamic Environments

摘要

This work presents an artificial intelligence approach to solve the problem of finding a path and creating a map in unknown environments using Reinforcement Learning (RL) and Simultaneous Localization and Mapping (SLAM) for a differential mobile robot along with an optimal control system. We propose the integration of these approaches (two of the most widely used ones) for the implementation of robot navigation systems with an efficient method of control composed by a neural identifier and an inverse optimal control in order to obtain a robust and autonomous system of navigation in unknown and dynamic environments.