D*-KDDPG: An Improved DDPG Path-Planning Algorithm Integrating Kinematic Analysis and the D* Algorithm

Author:

Liu Chunyang12ORCID,Liu Weitao1,Zhang Dingfa1,Sui Xin13ORCID,Huang Yan14,Ma Xiqiang12ORCID,Yang Xiaokang14ORCID,Wang Xiao13

Affiliation:

1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China

2. Longmen Laboratory, Luoyang 471000, China

3. Key Laboratory of Mechanical Design and Transmission System of Henan Province, Luoyang 471000, China

4. Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471000, China

Abstract

To address the limitations of the Deep Deterministic Policy Gradient (DDPG) in robot path planning, we propose an improved DDPG method that integrates kinematic analysis and D* algorithm, termed D*-KDDPG. Firstly, the current work promotes the reward function of DDPG to account for the robot’s kinematic characteristics and environment perception ability. Secondly, informed by the global path information provided by the D* algorithm, DDPG successfully avoids getting trapped in local optima within complex environments. Finally, a comprehensive set of simulation experiments is carried out to investigate the effectiveness of D*-KDDPG within various environments. Simulation results indicate that D*-KDDPG completes strategy learning within only 26.7% of the training steps required by the original DDPG, retrieving enhanced navigation performance and promoting safety. D*-KDDPG outperforms D*-DWA with better obstacle avoidance performance in dynamic environments. Despite a 1.8% longer path, D*-KDDPG reduces navigation time by 16.2%, increases safety distance by 72.1%, and produces smoother paths.

Funder

National Science Foundation of China

Technology Projects of Longmen Laboratory

Publisher

MDPI AG

Reference18 articles.

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