Object tracking algorithm of swarm robot system for using polygon based Q-learning and cascade SVM

• Main Authors: Seo Sang-Wook, Yang Hyun-Chang, Sim Kwee-Bo
• Format: Conference Proceeding
• Language: English
• Subjects: Biological cells; Genetic algorithms; Industrial electronics; Machine learning; Mobile communication; Mobile robots; Risk management; Robot kinematics; Service robots; Support vector machines
• ISSN: 2163-5137
• DOI: 10.1109/ISIE.2009.5213140

With the development of techniques, robots are getting smaller, and the number of robots needed for application is greater and greater. How to coordinate large number of autonomous robots through local interactions has becoming an important research issue in robot community. In swarm robot systems, each robot must behaves by itself according to the its states and environments, and if necessary, must cooperates with other robots in order to carry out a given task. Therefore it is essential that each robot has both learning and evolution ability to adapt the dynamic environments. In this paper, reinforcement learning method with cascade Support Vector Machine based on structural risk minimization and distributed genetic algorithms is proposed for behavior learning and evolution of collective autonomous mobile robots. By distributed genetic algorithm exchanging the chromosome acquired under different environments by communication each robot can improve its behavior ability. Specially, in order to improve the performance of evolution, selective crossover using the characteristic of reinforcement learning that basis of cascade Support Vector Machine is adopted in this paper.