Research on path planning algorithm of mobile robot based on reinforcement learning
Research on path planning algorithm of mobile robot based on reinforcement learning
复制标题
基于强化学习的移动机器人路径规划算法研究
DOI：
10.1007/s00500-022-07293-4
复制
发表时间：
2022-07-21
期刊：
影响因子：
4.1
通讯作者：
Zhou, Xinzhi
中科院分区：
文献类型：
--
作者：
Pan, Guoqian;Xiang, Yong;Zhou, Xinzhi
In order to solve the problems of low learning efficiency and slow convergence speed when mobile robot uses reinforcement learning method for path planning in complex environment, a reinforcement learning method based on each round path planning result is proposed. Firstly, the algorithm adds obstacle learning matrix to improve the success rate of path planning; and introduces heuristic reward to speed up the learning process by reducing the search space; then proposes a method of dynamically adjusting the exploration factor to balance the exploration and utilization in path planning, so as to further improve the performance of the algorithm. Finally, the simulation experiment in grid environment shows that compared with Q-learning algorithm, the improved algorithm not only shortens the average path length of the robot to reach the target position, but also speeds up the learning efficiency of the algorithm, so that the robot can find the optimal path more quickly. The code of EPRQL algorithm proposed in this paper has been published to GitHub: GitHub: https://github.com/ panpanpanguoguoqian/ mypaper1.git.
