TY - GEN
T1 - A Hybrid Q-learning Algorithm to Score a Moving Ball for Humanoid Robots
AU - Jafari, Masoumeh
AU - Saeedvand, Saeed
AU - Aghdasi, Hadi S.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/2
Y1 - 2019/2
N2 - In this paper, we investigate an effective and robust algorithm as a hybrid Q-learning algorithm to instant kick of a moving ball to score the goal. In this regard, as an application, we lied proposed algorithm's characteristics on the humanoid soccer robots. In this paper, we propose a hybridization of Heuristically Generating Possible Actions algorithm (HGPA) and Q-Learning algorithm. In each decision-making process first, the HGPA generates suitable possible actions, and then an adopted Q-Learning algorithm trains and selects the best action. The main objectives of HGPA are focused on the speeding up the learning process of the Q-learning algorithm, and it improves the quality of decision-making process. The simulation results show superior success rates of proposed algorithm in comparison to commonly used Q-learning algorithm in similar problems.
AB - In this paper, we investigate an effective and robust algorithm as a hybrid Q-learning algorithm to instant kick of a moving ball to score the goal. In this regard, as an application, we lied proposed algorithm's characteristics on the humanoid soccer robots. In this paper, we propose a hybridization of Heuristically Generating Possible Actions algorithm (HGPA) and Q-Learning algorithm. In each decision-making process first, the HGPA generates suitable possible actions, and then an adopted Q-Learning algorithm trains and selects the best action. The main objectives of HGPA are focused on the speeding up the learning process of the Q-learning algorithm, and it improves the quality of decision-making process. The simulation results show superior success rates of proposed algorithm in comparison to commonly used Q-learning algorithm in similar problems.
KW - Decision-making
KW - Humanoid soccer robot
KW - Hybrid heuristic algorithm
KW - Hybrid Q-learning algorithm
UR - http://www.scopus.com/inward/record.url?scp=85068328291&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85068328291&partnerID=8YFLogxK
U2 - 10.1109/KBEI.2019.8735027
DO - 10.1109/KBEI.2019.8735027
M3 - Conference contribution
AN - SCOPUS:85068328291
T3 - 2019 IEEE 5th Conference on Knowledge Based Engineering and Innovation, KBEI 2019
SP - 498
EP - 503
BT - 2019 IEEE 5th Conference on Knowledge Based Engineering and Innovation, KBEI 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE Conference on Knowledge Based Engineering and Innovation, KBEI 2019
Y2 - 28 February 2019 through 1 March 2019
ER -