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csvread('QL_Matrix.csv'); +QL_Matrix(:,size(QL_Matrix,2)) = []; % get rid of the last column + +row = size(QL_Matrix,1); +col = size(QL_Matrix,2); + +state_next = 0; + +% finding a random component inside the matrix +rand_row = randi([1 row]); +rand_col = randi([1 col]); +% state_init = QL_Matrix(rand_row,rand_col); +state_curr = QL_Matrix(rand_row,rand_col) + + +if rand_row == 1 + if QL_Matrix(rand_row + 1,rand_col) > state_curr; + + state_next = QL_Matrix(rand_row + 1,rand_col); + + else if QL_Matrix(rand_row,rand_col - 1) > state_curr + + state_next = QL_Matrix(rand_row,rand_col - 1); + + else if QL_Matrix(rand_row,rand_col + 1) > state_curr + + state_next = QL_Matrix(rand_row,rand_col + 1); + end + end + end +else if rand_row == row + if QL_Matrix(rand_row - 1,rand_col) > state_curr + + state_next = QL_Matrix(rand_row - 1,rand_col); + + else if QL_Matrix(rand_row,rand_col - 1) > state_curr + + state_next = QL_Matrix(rand_row,rand_col - 1); + + else if QL_Matrix(rand_row,rand_col + 1) > state_curr + + state_next = QL_Matrix(rand_row,rand_col + 1); + end + end + end + else if rand_col == 1 + if QL_Matrix(rand_row - 1,rand_col) > state_curr + + state_next = QL_Matrix(rand_row - 1,rand_col); + + else if QL_Matrix(rand_row + 1,rand_col) > state_curr; + + state_next = QL_Matrix(rand_row + 1,rand_col); + + else if QL_Matrix(rand_row,rand_col + 1) > state_curr + + state_next = QL_Matrix(rand_row,rand_col + 1); + end + end + end + else if rand_col == col + if QL_Matrix(rand_row - 1,rand_col) > state_curr + + state_next = QL_Matrix(rand_row - 1,rand_col); + + else if QL_Matrix(rand_row + 1,rand_col) > state_curr; + + state_next = QL_Matrix(rand_row + 1,rand_col); + + else if QL_Matrix(rand_row,rand_col - 1) > state_curr + + state_next = QL_Matrix(rand_row,rand_col - 1); + end + end + end + else + if QL_Matrix(rand_row - 1,rand_col) > state_curr + + state_next = QL_Matrix(rand_row - 1,rand_col); + + else if QL_Matrix(rand_row + 1,rand_col) > state_curr; + + state_next = QL_Matrix(rand_row + 1,rand_col); + + else if QL_Matrix(rand_row,rand_col - 1) > state_curr + + state_next = QL_Matrix(rand_row,rand_col - 1); + + else if QL_Matrix(rand_row,rand_col + 1) > state_curr + state_next = QL_Matrix(rand_row,rand_col + 1); + end + end + end + end + end + end + end +end + +state_next + +% +% +% +% state_curr = state_next +% +% for i = diff --git a/Files_4_thesis/Scan_Data_5_exp.csv b/Files_4_thesis/Scan_Data_5_exp.csv new file mode 100644 index 0000000000000000000000000000000000000000..e4bff4dedc4256e0a70302006bb66b2bfff36949 --- /dev/null +++ b/Files_4_thesis/Scan_Data_5_exp.csv @@ -0,0 +1,535 @@ +0,0,0,0,0,0 +1,0,0,0,0,0 +2,0,0,0,0,0 +3,0,0,0,0,0 +4,0,0,0,0,0 +5,0,0,0,0,0 +6,0,0,0,0,0 +7,0,0,0,0,0 +8,0,0,0,0,0 +9,0,0,0,0,0 +10,0,0,0,0,0 +11,0,0,0,0,0 +12,3.93,3.93,3.93,3.93,3.93 +13,3.93,3.93,3.93,3.94,3.94 +14,3.95,3.94,3.93,3.93,3.94 +15,3.94,3.94,3.94,3.95,3.94 +16,3.87,3.87,3.86,3.86,3.87 +17,3.86,3.86,3.86,3.86,3.87 +18,3.87,3.87,3.87,3.86,3.87 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0000000000000000000000000000000000000000..848fdb2a8f363fb54400073418ee91dce85ce0d1 --- /dev/null +++ b/Files_4_thesis/import_data_test.m @@ -0,0 +1,8 @@ +close all; +clear all; +clc; + + +% S_mat = csvread('Scan_Data_5_exp.csv'); +QL_Matrix = csvread('QL_Matrix.csv'); +QL_Matrix(:,size(QL_Matrix,2)) = []; \ No newline at end of file diff --git a/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.opensdf b/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.opensdf deleted file mode 100644 index 4243df38c3795969a61d7f7f422690c818169b6a..0000000000000000000000000000000000000000 Binary files a/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.opensdf and /dev/null differ diff --git a/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.sdf b/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.sdf index cbee01bba6a70574d5e0150486717b8a09d6aeed..3279fb37b94347b3a86e86b4877dd9a26f5474c2 100644 Binary files a/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.sdf and 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