Hands-On ROS for Robotics Programming

Q-learning explained – the self-driving cab example

The problem we are going to solve consists of a self-driving cab that has to pick up passengers and drop them off to the right location. It must do so as quickly as possible while respecting the traffic rules. The graphics are based on ASCII characters and we are going to use real images to explain the goal. We will also follow a time-ordered sequence of frames:

• The first sequence represents the cab—the yellow square—in the start position. It can move up, down, left, or right except when it finds a vertical bar; that motion is not allowed. There are four possible taxi stands where the cab can pick up or drop off a passenger. They are marked with the letters R, G, B, and Y. The blue letter ...