I have a grid of rectangles acting as blocks. The robot traverses through the inter-spaces between these consecutive blocks. Now I have sensor data streaming in representing Right and left wheel speeds. Based on the differences in the speeds of the left and right wheels, I infer the robot's position and the path it has threaded. I get the associated individual segments of the total distance when it travels straight, left, or right.
These distances are a function of the actual speed of the robot and the time interval elapsed before the end of that activity. These computed distances for the segments though don't map and fit-in well when projected on the grid layout of the environment. The segments are rather not adhering to the boundary limitations.
I wanted to know if I can use RL to force the calculated distances to fit in with the layout given certain knowledge (or conditions, if you will): the start and end position of the robot and the inter-space distances.
If not RL, do you know how can I solve this problem? I suspect my function computing the distances is off and wondering if RL can help me figure out the right mapping of sensor data to the path traveled adhering to the grid layout dimensions.
If you consider the illustration above you will notice S, D, and D' signifying the starting position, the true destination, and the destination location computed by adding together the calculated distances for each of the segments representing right(r), left(l) and straight(s) along the path towards the destination. Inter-space length is given 7m and dimensions of the blocks are (27m x 15m). If you look at the data presented on the left side you will notice 18m left and consecutive 24m right represents the activity, in the grid, as the passage through the blocks. Granted -- perhaps the car negotiates the edges and corners through this passage in a protracted left(l) and right(r) movements, without necessarily going straight(s) straddling and linking the turns as one would expect.
The question arises, however, when taken into account these individual segment lengths and stitch them together you end up in a destination, not in the ballpark range of the expected value. How can we design this problem so as to employ RL methods to, sort of, impose these grid dimensional constraints on this distance calculation methodology to yield better results? Or, probably best to re-imagine the whole problem so it is amenable to the application of RL.
Any advice/ insights would be appreciated.