Abstract A foremostpolicy reinforcement learning based ART2 neural network (FPRLART2) and its learning algorithm are proposed in this paper. To fit the requirement of real time learning, the first awarded behavior based on present states is selected in our ForemostPolicy Reinforcement Learning (FPRL) in stead of the optimal behavior in 1step QLearning. The algorithm of FPRL is given and it is integrated with ART2 neural network. The stored weights of classified pattern in ART2 is increased or decreased by reinforcement learning. The FPRLART2 is successfully used in collision avoidance of mobile robot and the simulation experiment indicates that the times of collision between robot and obstacle is effectively decreased. The FPRLART2 makes favorable result of collision avoidance.
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2006, Vol. 19 
