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This paper presents a dynamic Q-learning (DFQL) method that is capable of tuning the fuzzy inference systems (FIS) online. On-line self-organizing learning is developed so that structure and parameters identification are accomplished automatically and simultaneously based only on Q-learning. Self-organizing fuzzy inference is introduced to calculate actions and Q-functions so as to enable us to deal with continuous-valued states and actions. Fuzzy rules provide a natural mean to incorporate the bias components for rapid reinforcement learning. Experimental results and comparative studies with the fuzzy Q-learning the wall following task of mobile robots demonstrate the superiority of the proposed DFQL method.
Systems, Man and Cybernetics, 2003. IEEE International Conference on (Volume:4 )
Date of Conference: 5-8 Oct. 2003