Journal
ELECTRONICS
Volume 11, Issue 21, Pages -Publisher
MDPI
DOI: 10.3390/electronics11213628
Keywords
deep reinforcement learning; global optimal path planning; dynamic programming; mobile robots; shortest path; continuous state space; collision avoidance
Categories
Funding
- Natural Sciences and Engineering Research Council of Canada (NSERC) [210471]
Ask authors/readers for more resources
This paper proposes a novel deep reinforcement learning method for optimal path planning for mobile robots. By combining dynamic programming with deep reinforcement learning, the method overcomes the issues of slow learning process and poor training data quality, and achieves promising experimental results.
In this paper, we propose a novel deep reinforcement learning (DRL) method for optimal path planning for mobile robots using dynamic programming (DP)-based data collection. The proposed method can overcome the slow learning process and improve training data quality inherently in DRL algorithms. The main idea of our approach is as follows. First, we mapped the dynamic programming method to typical optimal path planning problems for mobile robots, and created a new efficient DP-based method to find an exact, analytical, optimal solution for the path planning problem. Then, we used high-quality training data gathered using the DP method for DRL, which greatly improves training data quality and learning efficiency. Next, we established a two-stage reinforcement learning method where, prior to the DRL, we employed extreme learning machines (ELM) to initialize the parameters of actor and critic neural networks to a near-optimal solution in order to significantly improve the learning performance. Finally, we illustrated our method using some typical path planning tasks. The experimental results show that our DRL method can converge much easier and faster than other methods. The resulting action neural network is able to successfully guide robots from any start position in the environment to the goal position while following the optimal path and avoiding collision with obstacles.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available