Recently, a continuous reinforcement learning model called fuzzy SARSA (state, action, reward, state, action) learning (FSL) was proposed for irrigation canals. The main problem related to FSL is its convergence and generalization in environments with many variables such as large irrigation canals and situations beyond training. Furthermore, due to its architecture, FSL may require high computation demands during its learning process. To deal with these issues, this work proposes a computationally lighter generalizing learned Q-function (GLQ) model, which benefits from the FSL-learned Q-function, to provide operators with a faster and simpler mechanism to obtain operational instructions. The proposed approach is tested for different water requests in the East Aghili Canal, located in the southwest of Iran. Several performance indicators are used for evaluating the GLQ model results, showing convergence in all the investigated cases and the ability to estimate operational instructions (actions) in situations beyond training, delivering water with high accuracy regarding several performance indicators. Hence, the use of the GLQ model is recommended for determining the operational patterns in irrigation canals.

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SUMMARYThis paper tackles the challenge of the necessity of using the sequence of past environment states as the controller’s inputs in a vision-based robot navigation task. In this task, a robot has to follow a given trajectory without falling in pits and missing its balance in uneven terrain, when the only sensory input is the raw image captured by a camera. The robot should distinguish big pits from small holes to decide between avoiding and passing over. In non-Markov processes such as the abovementioned task, the decision is done using past sensory data to ensure admissible performance. Applying images as sensory inputs naturally causes the curse of dimensionality difficulty. On the other hand, using sequences of past images intensifies this difficulty. In this paper, a new framework called recurrent deep learning (RDL) with combination of deep learning (DL) and recurrent neural network is proposed to cope with the above challenge. At first, the proper features are extracted from the raw image using DL. Then, these represented features plus some expert-defined features are used as the inputs of a fully connected recurrent network (as target network) to generate command control of the robot. To evaluate the proposed RDL framework, some experiments are established on WEBOTS and MATLAB co-simulation platform. The simulation results demonstrate the proposed framework outperforms the conventional controller based on DL for the navigation task in the uneven terrains.

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