A Global Path Planning Algorithm for Robots Using Reinforcement Learning

Path planning is the key technology for autonomous mobile robots. In view of the shortage of paths found by traditional best first search (BFS) and rapidly-exploring random trees (RRT) algorithm which are not short and smooth enough for robot navigation, a new global planning algorithm combined with...

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Published in2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 1693 - 1698
Main Authors Gao, Penggang, Liu, Zihan, Wu, Zongkai, Wang, Donglin
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2019
Subjects
Autonomous robots
Biomimetics
Collision avoidance
Global path planning
Mobile robots
Navigation
Path planning
Planning
Q-learning
Random Sampling
Reinforcement Learning
Online AccessGet full text
DOI10.1109/ROBIO49542.2019.8961753

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Abstract Path planning is the key technology for autonomous mobile robots. In view of the shortage of paths found by traditional best first search (BFS) and rapidly-exploring random trees (RRT) algorithm which are not short and smooth enough for robot navigation, a new global planning algorithm combined with reinforcement learning is presented for robots. In our algorithm, a path graph is established firstly, in which the paths collided with the obstacles are removed directly. Then a collision-free path will be found by Q-Learning from starting point to the goal. The experiment results illustrate that it can generate shorter and smoother paths, compared with the BFS and RRT algorithm.
AbstractList Path planning is the key technology for autonomous mobile robots. In view of the shortage of paths found by traditional best first search (BFS) and rapidly-exploring random trees (RRT) algorithm which are not short and smooth enough for robot navigation, a new global planning algorithm combined with reinforcement learning is presented for robots. In our algorithm, a path graph is established firstly, in which the paths collided with the obstacles are removed directly. Then a collision-free path will be found by Q-Learning from starting point to the goal. The experiment results illustrate that it can generate shorter and smoother paths, compared with the BFS and RRT algorithm.
Author Wu, Zongkai
Liu, Zihan
Gao, Penggang
Wang, Donglin
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Snippet Path planning is the key technology for autonomous mobile robots. In view of the shortage of paths found by traditional best first search (BFS) and...
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SubjectTerms Autonomous robots
Biomimetics
Collision avoidance
Global path planning
Mobile robots
Navigation
Path planning
Planning
Q-learning
Random Sampling
Reinforcement Learning
Title A Global Path Planning Algorithm for Robots Using Reinforcement Learning
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