CSpace
Laser Based Navigation in Asymmetry and Complex Environment
Zhao, Yuchen1; Xie, Keying2,3; Liu, Qingfei4; Li, Yawen5; Wu, Tian6
2022-02-01
发表期刊SYMMETRY-BASEL
卷号14期号:2页码:18
摘要For collision-free navigation in unstructured and cluttered environments, deep reinforcement learning (DRL) has gained extensive successes for being capable of adapting to new environments without much human effort. However, due to its asymmetry, the problems related to its lack of data efficiency and robustness remain as challenges. In this paper, we present a new laser-based navigation system for mobile robots, which combines a global planner with reinforcement learning-based local trajectory re-planning. The proposed method uses Proximal Policy Optimization to learn an efficient and robust local planning policy with asynchronous data generation and training. Extensive experiments have been presented, showing that the proposed system achieves better performance than previous methods including end-to-end DRL, and it can improve the asymmetrical performance. Our analysis show that the proposed method can efficiently avoid deadlock points and achieves a higher success rate. Moreover, we show that our system can generalize to unseen environments and obstacles with only a few shots. The model enables the warehouse to realize automatic management through intelligent sorting and handling, and it is suitable for various customized application scenarios.
关键词deep reinforcement learning navigation obstacle avoidance unmaned-vehicle
DOI10.3390/sym14020253
收录类别SCI
语种英语
WOS研究方向Science & Technology - Other Topics
WOS类目Multidisciplinary Sciences
WOS记录号WOS:000763057000001
出版者MDPI
引用统计
文献类型期刊论文
条目标识符http://ir.amss.ac.cn/handle/2S8OKBNM/60009
专题中国科学院数学与系统科学研究院
通讯作者Liu, Qingfei
作者单位1.Forwardx Robot Inc, Beijing 100096, Peoples R China
2.Beijing Wuzi Univ, Sch Econ, Beijing 101149, Peoples R China
3.Beijing Inst Fash Technol, Sch Fash Commun, Beijing 100029, Peoples R China
4.Natl Univ Def Technol, Undergrad Sch, Changsha 410073, Peoples R China
5.Beijing Univ Posts & Telecommun, Sch Econ & Management, Beijing 100876, Peoples R China
6.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
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Zhao, Yuchen,Xie, Keying,Liu, Qingfei,et al. Laser Based Navigation in Asymmetry and Complex Environment[J]. SYMMETRY-BASEL,2022,14(2):18.
APA Zhao, Yuchen,Xie, Keying,Liu, Qingfei,Li, Yawen,&Wu, Tian.(2022).Laser Based Navigation in Asymmetry and Complex Environment.SYMMETRY-BASEL,14(2),18.
MLA Zhao, Yuchen,et al."Laser Based Navigation in Asymmetry and Complex Environment".SYMMETRY-BASEL 14.2(2022):18.
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