Design and Experimental Validation of Deep Reinforcement Learning-Based Fast Trajectory Planning and Control for Mobile Robot in Unknown Environment - Chai, Runqi; Niu, Hanlin; Carrasco, Joaquin; Arvin, Farshad; Yin, Hujun; Lennox, Barry (IEEE transaction on neural networks and learning systems, 2024)
Keywords: Algorithms; Approximation; Artificial neural networks; Collision avoidance; Computer simulation; Control algorithms; Control theory; Deep learning; Deep reinforcement learning (DRL); Exploration; Machine learning; Maneuvers; mobile robot; Mobile robots; motion control; Motion planning; Movement; Neural networks; Noise measurement; noisy prioritized experience replay (PER); optimal motion planning; Planning; recurrent neural network; Reinforcement; Robot control; Robot dynamics; Robot sensing systems; Robots; Tracking; Training; Trajectory; Trajectory control; Trajectory optimization; Trajectory planning; unexpected obstacles; Unknown environments; Waypoints