Deep reinforcement learning based automatic exploration for navigation in unknown environment | |
Li Haoran1,2![]() ![]() ![]() | |
刊名 | IEEE Transactions on Neural Network and Learning Systems
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2019 | |
期号 | early acess页码:1-13 |
关键词 | Automatic Exploration Deep Reinforcement Learning Optimal Decision Partial Observation |
DOI | DOI:10.1109/TNNLS.2019.2927869 |
英文摘要 | This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to cover various environments and sensor properties. Learning-based control methods are adaptive for these scenarios. However, these methods are damaged by low learning efficiency and awkward transferability from simulation to reality. In this paper, we construct a general exploration framework via decomposing the exploration process into the decision, planning, and mapping modules, which increases the modularity of the robotic system. Based on this framework, we propose a deep reinforcement learning-based decision algorithm that uses a deep neural network to learning exploration strategy from the partial map. The results show that this proposed algorithm has better learning efficiency and adaptability for unknown environments. In addition, we conduct the experiments on the physical robot, and the results suggest that the learned policy can be well transferred from simulation to the real robot. |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/26138] ![]() |
专题 | 复杂系统管理与控制国家重点实验室_深度强化学习 |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Li Haoran,Zhang Qichao,Zhao Dongbin. Deep reinforcement learning based automatic exploration for navigation in unknown environment[J]. IEEE Transactions on Neural Network and Learning Systems,2019(early acess):1-13. |
APA | Li Haoran,Zhang Qichao,&Zhao Dongbin.(2019).Deep reinforcement learning based automatic exploration for navigation in unknown environment.IEEE Transactions on Neural Network and Learning Systems(early acess),1-13. |
MLA | Li Haoran,et al."Deep reinforcement learning based automatic exploration for navigation in unknown environment".IEEE Transactions on Neural Network and Learning Systems .early acess(2019):1-13. |
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