Laser Based Navigation in Asymmetry and Complex Environment
Zhao, Yuchen1; Xie, Keying2,3; Liu, Qingfei4; Li, Yawen5; Wu, Tian6
Source PublicationSYMMETRY-BASEL
AbstractFor 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.
Keyworddeep reinforcement learning navigation obstacle avoidance unmaned-vehicle
Indexed BySCI
WOS Research AreaScience & Technology - Other Topics
WOS SubjectMultidisciplinary Sciences
WOS IDWOS:000763057000001
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Document Type期刊论文
Corresponding AuthorLiu, Qingfei
Affiliation1.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
Recommended Citation
GB/T 7714
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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