Analysis of simultaneous use of Extended Kalman Filter and Q-learning Algorithm in Autonomous Navigation inside Dynamic Environments

• Grant number: 18/05228-3
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: June 01, 2018
• End date: May 31, 2019
• Field of knowledge: Engineering - Electrical Engineering
• Principal Investigator: Marcelo Nicoletti Franchin
• Grantee: Hugo Ferraz Sangaletti
• Host Institution: Faculdade de Engenharia (FE). Universidade Estadual Paulista (UNESP). Campus de Bauru. Bauru , SP, Brazil

Abstract

Path planning and localization problems in autonomous navigation of mobilerobots are often independently approached. However, both are essential to developsystems on autonomous robots field. This project intends to analyze thesimultaneous approach of Extended Kalman Filter to solve NAO localization problemand q-learning algorithm to address path planning with unkowm obstacle avoidanceproblem. The expected results are those that indicate performance improvement onboth methods compared to each of them individually.