Reinforcement Learning in Cognitive Robots for Autonomous Path Planning
Archana Das, R. Indu Poornima, G. Gokila Deepa, K. Selva Sheela, Akshya Jothi, Mani Deepak Choudhry · 2024
Cognitive robots are intelligent systems that learn from their environment, adapt to dynamic changes, and make decisions without a human's direct intervention. This research studies the integration of Reinforcement Learning in cognitive robots with Q-Learning for autonomous path planning. The study addresses the most critical issues in traditional A* and Dynamic Programming algorithms by devising path-planning techniques, mainly the lack of adaptability and computational efficiency in real-time and unpredictable environments. Our approach is based on Q-Learning, which is a model-free RL algorithm allowing the robots to find paths autonomously by optimizing their paths and avoiding obstacles. The Q-Learning algorithm provides the possibility of learning optimal policies for the robot through iterative interaction with its environment balanced between exploration and exploitation of the decision process. A reward system is utilized by the proposed model, encouraging the robot to explore shorter, collision-free paths and adjust based on feedback in real time from its surroundings. The model was found to be significantly better than its counterparts. In this context, as indicated, the Q-Learning model runs at 11.5 seconds, faster than A* at 18.3 seconds and Dynamic Programming at 16.7 seconds, yet with an accuracy of 94% and was found to have the highest collision avoidance rate at 98%. Additionally, the adaptability of the model about the environment presents a marked difference in terms of path length optimization, having done so with a mean path length of 12.3, compared to approaches or models. The robustness and scalability of the Q-Learning model make it highly applicable in real-world applications.