Reinforcement Learning Path Planning Method with Error Estimation

摘要

Path planning is often considered as an important task in autonomous driving applications. Current planning method only concerns the knowledge of robot kinematics, however, in GPS denied environments, the robot odometry sensor often causes accumulated error. To address this problem, an improved path planning algorithm is proposed based on reinforcement learning method, which also calculates the characteristics of the cumulated error during the planning procedure. The cumulative error path is calculated by the map with convex target processing, while modifying the algorithm reward and punishment parameters based on the error estimation strategy. To verify the proposed approach, simulation experiments exhibited that the algorithm effectively avoid the error drift in path planning.