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International Journal of Nonlinear Analysis and Applications، جلد ۱۳، شماره ۲، صفحات ۱۷۸۹-۱۷۹۴
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عنوان انگلیسی Robot control interaction with cloud-assisted analysis control
چکیده انگلیسی مقاله Path planning with avoiding obstacles autonomously with a large of computing capabilities in an unknown dynamic environment is a difficult challenge for a mobile robot to solve. This research solves this challenge by combining deep Q-network (DQN) with cloud computing. To begin, a DQN is created and trained to predict the state-action value function of a mobile robot. The information collected from the original RGB image (pixels in the image) taken from the surrounding is fed into the DQN using a cloud computing platform, which reduces the algorithms high computation complexity; Finally, the action chosen policy picks the current optimal mobile robot action. To validate the DQN algorithm, we trained the robot in a dynamic environment with a simple and complex case. The simulation results show that, in a simple case of the environment, the DQN technique can converge to explore a path with fewer steps and higher average reward than in a complicated case and find a collision-free path with an accuracy rate of 89% in the simple case and when the environment becomes more complex, the accuracy rate is 70 %.
کلیدواژه‌های انگلیسی مقاله cloud services, deep Q- learning, Autonomous Navigation of the robot, Obstacle avoidance
نویسندگان مقاله Alaa Adeb Abdulraheem |
Department of Electronics and Communications, College of Engineering, University of Baghdad, Baghdad, Iraq

Aqeel Abdulazeez Mohammed |
Department of Electronics and Communications, College of Engineering, University of Baghdad, Baghdad, Iraq

نشانی اینترنتی https://ijnaa.semnan.ac.ir/article_6579_7156812a5d859b99899f21f684d81d3d.pdf
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