A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance

Author:

Wang Lei1,Li Ruiwen2ORCID,Huangfu Ziwei3ORCID,Feng Yishan2,Chen Yiyang4ORCID

Affiliation:

1. School of Automation, Wuxi University, Wuxi 214105, China

2. School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China

3. Key Laboratory of Advanced Perception and Intelligent Control for High-End Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu 241000, China

4. School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, China

Abstract

This paper investigates a path planning approach for the walking and obstacle avoidance of a blind hexapod robot in various field conditions. Hexapod robots often perform field tasks in unstructured environments, and their external sensors are affected by weather and light. This paper proposes the use of internal sensors to sense the terrain and a slightly modified soft actor-critic algorithm to train the motion strategy. A hexapod robot is capable of walking smoothly on rough ground only using internal sensors that are not affected by weather factors, and the soft actor-critic approach is superior for overcoming high-dimensional issues for multi-degree-freedom robot motion in unstructured environments.The experiments showed that the hexapod robot not only traversed rugged terrain at a fixed speed but also possessed obstacle avoidance capabilities.

Funder

National Science Foundation of China

Natural Science Foundation of the Higher Education Institutions of Jiangsu Province

Natural Science Foundation of Jiangsu Province in China

Wuxi Innovation and Entrepreneurship Fund “Taihu Light” Science and Technology (Fundamental Research) Project

Start-up Fund for Introducing Talent of Wuxi University

Innovative Leading Talents in Universities of Xishan Talents Program

Publisher

MDPI AG

Subject

Control and Optimization,Control and Systems Engineering

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1. Safe path planning of mobile robot based on improved particle swarm optimization;Transactions of the Institute of Measurement and Control;2024-08-19

2. Design and Analysis of a Novel Omnidirectional Step-climbing Robot;Sensors and Materials;2024-06-18

3. Structural Design and Analysis of Biomimetic Rescue Spider Robot;Proceedings of the 2024 3rd International Symposium on Control Engineering and Robotics;2024-05-24

4. Improved Double Deep Q-Network Algorithm Applied to Multi-Dimensional Environment Path Planning of Hexapod Robots;Sensors;2024-03-23

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