Open AccessApplication of Deep Q-learning and double Deep Q-learning algorithms to the task of control an inverted pendulum
Author(s) -
Alla Evseenko,
Dmitrii Romannikov
Publication year - 2020
Publication title -
sbornik naučnyh trudov ngtu
Language(s) - English
Resource type - Journals
ISSN - 2307-6879
DOI - 10.17212/2307-6879-2020-1-2-7-25
Subject(s) - inverted pendulum , computer science , artificial intelligence , reinforcement learning , algorithm , task (project management) , machine learning , deep learning , q learning , engineering , physics , systems engineering , quantum mechanics , nonlinear system
Today, such a branch of science as «artificial intelligence» is booming in the world. Systems built on the basis of artificial intelligence methods have the ability to perform functions that are traditionally considered the prerogative of man. Artificial intelligence has a wide range of research areas. One such area is machine learning. This article discusses the algorithms of one of the approaches of machine learning – reinforcement learning (RL), according to which a lot of research and development has been carried out over the past seven years. Development and research on this approach is mainly carried out to solve problems in Atari 2600 games or in other similar ones. In this article, reinforcement training will be applied to one of the dynamic objects – an inverted pendulum. As a model of this object, we consider a model of an inverted pendulum on a cart taken from the Gym library, which contains many models that are used to test and analyze reinforcement learning algorithms. The article describes the implementation and study of two algorithms from this approach, Deep Q-learning and Double Deep Q-learning. As a result, training, testing and training time graphs for each algorithm are presented, on the basis of which it is concluded that it is desirable to use the Double Deep Q-learning algorithm, because the training time is approximately 2 minutes and provides the best control for the model of an inverted pendulum on a cart.