Laser Based Navigation in Asymmetry and Complex Environment
文献类型：期刊论文
| 作者 | Zhao, Yuchen1; Xie, Keying2,3; Liu, Qingfei4; Li, Yawen5; Wu, Tian6 |
| 刊名 | SYMMETRY-BASEL
 |
| 出版日期 | 2022-02-01 |
| 卷号 | 14期号:2页码:18 |
| 关键词 | deep reinforcement learning navigation obstacle avoidance unmaned-vehicle |
| DOI | 10.3390/sym14020253 |
| 英文摘要 | 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. |
| WOS研究方向 | Science & Technology - Other Topics |
| 语种 | 英语 |
| WOS记录号 | WOS:000763057000001 |
| 出版者 | MDPI |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/60008]  |
| 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 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：数学与系统科学研究院
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