Laser Based Navigation in Asymmetry and Complex Environment

doi:10.3390/sym14020253

	Laser Based Navigation in Asymmetry and Complex Environment
	Zhao, Yuchen 2; Xie, Keying 3,4; Liu, Qingfei 1; Li, Yawen 5; Wu, Tian 6
刊名	SYMMETRY-BASEL
	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
出版者	MDPI
WOS记录号	WOS:000763057000001
内容类型	期刊论文
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.Natl Univ Def Technol, Undergrad Sch, Changsha 410073, Peoples R China 2.Forwardx Robot Inc, Beijing 100096, Peoples R China 3.Beijing Wuzi Univ, Sch Econ, Beijing 101149, Peoples R China 4.Beijing Inst Fash Technol, Sch Fash Commun, Beijing 100029, 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.