Improved reinforcement learning path planning algorithm integrating prior knowledge

摘要

In order to realize the optimization of autonomous navigation of mobile robot under the condition of partial environmental knowledge known. An improved Q-learning reinforcement learning algorithm based on prior knowledge is proposed to solve the problem of slow convergence and low learning efficiency in mobile robot path planning. Prior knowledge is used to initialize the Q-value, so as to guide the agent to move toward the target direction with a greater probability from the early stage of the algorithm, eliminating a large number of invalid iterations. The greedy factor ε is dynamically adjusted based on the number of times the agent successfully reaches the target position, so as to better balance exploration and exploitation and accelerate convergence. Simulation results show that the improved Q-learning algorithm has a faster convergence rate and higher learning efficiency than the traditional algorithm. The improved algorithm has practical significance for improving the efficiency of autonomous navigation of mobile robots.