  In this paper, a MIMO simulated annealing SA based Q learning method is
proposed to control a line follower robot. The conventional controller for
these types of robots is the proportional P controller. Considering the unknown
mechanical characteristics of the robot and uncertainties such as friction and
slippery surfaces, system modeling and controller designing can be extremely
challenging. The mathematical modeling for the robot is presented in this
paper, and a simulator is designed based on this model. The basic Q learning
methods are based pure exploitation and the epsilon-greedy methods, which help
exploration, can harm the controller performance after learning completion by
exploring nonoptimal actions. The simulated annealing based Q learning method
tackles this drawback by decreasing the exploration rate when the learning
increases. The simulation and experimental results are provided to evaluate the
effectiveness of the proposed controller.
