The Path Planning of Mobile Robot by Neural Networks and Hierarchical Reinforcement Learning

摘要

Existing mobile robots cannot complete some functions. To solve these problems, which include autonomous learning in path planning, the slow convergence of path planning, and planned paths that are not smooth, it is possible to utilize neural networks to enable to the robot to perceive the environment and perform feature extraction, which enables them to have a fitness of environment to state action function. By mapping the current state of these actions through Hierarchical Reinforcement Learning (HRL), the needs of mobile robots are met. It is possible to construct a path planning model for mobile robots based on neural networks and HRL. In this article, the proposed algorithm is compared with different algorithms in path planning. It underwent a performance evaluation to obtain an optimal learning algorithm system. The optimal algorithm system was tested in different environments and scenarios to obtain optimal learning conditions, thereby verifying the effectiveness of the proposed algorithm. Deep Deterministic Policy Gradient (DDPG), a path planning algorithm for mobile robots based on neural networks and hierarchical reinforcement learning, performed better in all aspects than other algorithms. Specifically, when compared with Double Deep Q-Learning (DDQN), DDPG has a shorter path planning time and a reduced number of path steps. When introducing an influence value, this algorithm shortens the convergence time by 91% compared with the Q-learning algorithm and improves the smoothness of the planned path by 79%. The algorithm has a good generalization effect in different scenarios. These results have significance for research on guiding, the precise positioning, and path planning of mobile robots.