期刊
IET CYBER-SYSTEMS AND ROBOTICS
卷 3, 期 4, 页码 302-314出版社
WILEY
DOI: 10.1049/csy2.12020
关键词
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资金
- National Key R&D program of China [2019YFB1312400]
- Hong Kong RGC CRF grant [C4063-18GF]
- Hong Kong RGC TRS grant [T42-409/18-R]
- Hong Kong RGC GRF grant [14200618]
- Shenzhen Science and Technology Innovation [JCYJ20170413161503220]
The article summarizes various learning-based methods applied to robot motion-planning problems, including supervised, unsupervised learning, and reinforcement learning, discussing their advantages and the combination of learning techniques with classical planning approaches.
A fundamental task in robotics is to plan collision-free motions among a set of obstacles. Recently, learning-based motion-planning methods have shown significant advantages in solving different planning problems in high-dimensional spaces and complex environments. This article serves as a survey of various different learning-based methods that have been applied to robot motion-planning problems, including supervised, unsupervised learning, and reinforcement learning. These learning-based methods either rely on a human-crafted reward function for specific tasks or learn from successful planning experiences. The classical definition and learning-related definition of motion-planning problem are provided in this article. Different learning-based motion-planning algorithms are introduced, and the combination of classical motion-planning and learning techniques is discussed in detail.
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