Application of the Reinforcement Learning Method for the Mobile Robotics Simulator^*

The paper focuses on the reinforcement learning method for the path following platform. Firstly, the waypoint following logic is developed and it is incorporated into ROS publish and subscribe block for 2 wheel mobile platform. Firstly, the waypoint follower in mobile robotics simulation toolbox at simulink is introduced. On the other side of research, platform can be moved through ROS connection. Lastly, the reinforcement learning method is incorporated into the ROS publish and sub-scribe mechanism regarding position control. In this presentation, the development of waypoint following logic using the waypoint following method is experimented based on the generated path with the real mobile robot with ROS connection.