Improved Robot Path Planning Method Based on Deep Reinforcement Learning

Author:

Han Huiyan123,Wang Jiaqi123,Kuang Liqun123,Han Xie123,Xue Hongxin123

Affiliation:

1. School of Computer Science and Technology, North University of China, Taiyuan 030051, China

2. Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan 030051, China

3. Shanxi Vision Information Processing and Intelligent Robot Engineering Research Center, Taiyuan 030051, China

Abstract

With the advancement of robotics, the field of path planning is currently experiencing a period of prosperity. Researchers strive to address this nonlinear problem and have achieved remarkable results through the implementation of the Deep Reinforcement Learning (DRL) algorithm DQN (Deep Q-Network). However, persistent challenges remain, including the curse of dimensionality, difficulties of model convergence and sparsity in rewards. To tackle these problems, this paper proposes an enhanced DDQN (Double DQN) path planning approach, in which the information after dimensionality reduction is fed into a two-branch network that incorporates expert knowledge and an optimized reward function to guide the training process. The data generated during the training phase are initially discretized into corresponding low-dimensional spaces. An “expert experience” module is introduced to facilitate the model’s early-stage training acceleration in the Epsilon–Greedy algorithm. To tackle navigation and obstacle avoidance separately, a dual-branch network structure is presented. We further optimize the reward function enabling intelligent agents to receive prompt feedback from the environment after performing each action. Experiments conducted in both virtual and real-world environments have demonstrated that the enhanced algorithm can accelerate model convergence, improve training stability and generate a smooth, shorter and collision-free path.

Funder

National Natural Science Foundation of China

Shanxi Province Science and Technology Major Special Project

Shanxi Province Science and Technology Achievements Transformation Guidance Special Project

Shanxi Key Laboratory of Machine Vision and Virtual Reality

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

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