Research on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm

Aiming at the problems of low success rate and slow learning speed of the DDPG algorithm in path planning of a mobile robot in a dynamic environment, an improved DDPG algorithm is designed. In this article, the RAdam algorithm is used to replace the neural network optimizer in DDPG, combined with th...

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Autores principales:	Peng Li, Xiangcheng Ding, Hongfang Sun, Shiquan Zhao, Ricardo Cajo
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Telecommunication TK5101-6720
Acceso en línea:	https://doaj.org/article/0368a1ae039c41579d12bef6903932d4
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spelling	oai:doaj.org-article:0368a1ae039c41579d12bef6903932d42021-11-22T01:10:07ZResearch on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm1875-905X10.1155/2021/5169460https://doaj.org/article/0368a1ae039c41579d12bef6903932d42021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/5169460https://doaj.org/toc/1875-905XAiming at the problems of low success rate and slow learning speed of the DDPG algorithm in path planning of a mobile robot in a dynamic environment, an improved DDPG algorithm is designed. In this article, the RAdam algorithm is used to replace the neural network optimizer in DDPG, combined with the curiosity algorithm to improve the success rate and convergence speed. Based on the improved algorithm, priority experience replay is added, and transfer learning is introduced to improve the training effect. Through the ROS robot operating system and Gazebo simulation software, a dynamic simulation environment is established, and the improved DDPG algorithm and DDPG algorithm are compared. For the dynamic path planning task of the mobile robot, the simulation results show that the convergence speed of the improved DDPG algorithm is increased by 21%, and the success rate is increased to 90% compared with the original DDPG algorithm. It has a good effect on dynamic path planning for mobile robots with continuous action space.Peng LiXiangcheng DingHongfang SunShiquan ZhaoRicardo CajoHindawi LimitedarticleTelecommunicationTK5101-6720ENMobile Information Systems, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Telecommunication TK5101-6720
spellingShingle	Telecommunication TK5101-6720 Peng Li Xiangcheng Ding Hongfang Sun Shiquan Zhao Ricardo Cajo Research on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm
description	Aiming at the problems of low success rate and slow learning speed of the DDPG algorithm in path planning of a mobile robot in a dynamic environment, an improved DDPG algorithm is designed. In this article, the RAdam algorithm is used to replace the neural network optimizer in DDPG, combined with the curiosity algorithm to improve the success rate and convergence speed. Based on the improved algorithm, priority experience replay is added, and transfer learning is introduced to improve the training effect. Through the ROS robot operating system and Gazebo simulation software, a dynamic simulation environment is established, and the improved DDPG algorithm and DDPG algorithm are compared. For the dynamic path planning task of the mobile robot, the simulation results show that the convergence speed of the improved DDPG algorithm is increased by 21%, and the success rate is increased to 90% compared with the original DDPG algorithm. It has a good effect on dynamic path planning for mobile robots with continuous action space.
format	article
author	Peng Li Xiangcheng Ding Hongfang Sun Shiquan Zhao Ricardo Cajo
author_facet	Peng Li Xiangcheng Ding Hongfang Sun Shiquan Zhao Ricardo Cajo
author_sort	Peng Li
title	Research on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm
title_short	Research on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm
title_full	Research on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm
title_fullStr	Research on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm
title_full_unstemmed	Research on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm
title_sort	research on dynamic path planning of mobile robot based on improved ddpg algorithm
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/0368a1ae039c41579d12bef6903932d4
work_keys_str_mv	AT pengli researchondynamicpathplanningofmobilerobotbasedonimprovedddpgalgorithm AT xiangchengding researchondynamicpathplanningofmobilerobotbasedonimprovedddpgalgorithm AT hongfangsun researchondynamicpathplanningofmobilerobotbasedonimprovedddpgalgorithm AT shiquanzhao researchondynamicpathplanningofmobilerobotbasedonimprovedddpgalgorithm AT ricardocajo researchondynamicpathplanningofmobilerobotbasedonimprovedddpgalgorithm
_version_	1718418380460916736

Research on Dynamic Path Planning of Mobile Robot Based on Improved DDPG Algorithm

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