Improved Q-Learning Algorithm for Path Planning of an Automated Guided Vehicle (AGV)
Hao Guo, Min Keng Tan, Kit Guan Lim, Helen Sin Ee Chuo, Baojian Yang, Kenneth Tze Kin Teo · 2023
With the development of modern industry 4.0, intelligent path planning is an essential research direction of schedule systems for an automated guided vehicle (AGV), which has been widely used in logistics distribution centers of enterprises. This work implements the improved Q-learning algorithm to solve the typical obstacle avoidance problems in path planning. Specifically, the conventional Q-learning algorithm has shortcomings including low operational efficiency and slow learning speed. The improved Q-learning algorithm is successively proposed by adding a learning process based on the original Q-learning algorithm, which enables AGV to find obstacles and target locations within the shortest time, thus improving the efficiency of path planning. Finally, the simulation experiments are carried out in the grid environment with MATLAB. In comparison to the conventional Q-learning algorithm, the improved Q-learning algorithm has faster convergence and higher learning efficiency, improved by 20%.