In this paper, a novel algorithm of trajectory tracking control for mobile robots using the reinforcement learning and PID is proposed. The Q-learning and PID are adopted for tracking the desired trajectory of the mobile robot. The proposed method can reduce the computational complexity of reward function for Q-learning and improve the tracking accuracy of mobile robot. The effectiveness of the proposed algorithm is demonstrated via simulation tests.

中文翻译：

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使用强化学习和 PID 的移动机器人轨迹跟踪控制

本文提出了一种基于强化学习和PID的移动机器人轨迹跟踪控制新算法。采用Q-learning和PID来跟踪移动机器人的期望轨迹。该方法可以降低Q-learning奖励函数的计算复杂度，提高移动机器人的跟踪精度。通过仿真测试证明了所提出算法的有效性。