Deep Reinforcement Learning Based on the Hindsight Experience Replay for Autonomous Driving of Mobile Robot

被引：0

作者：

Park M. ^{[1
]}

Hong J.S. ^{[1
]}

Kwon N.K. ^{[1
]}

机构：

[1] Department of Electronics Engineering, Yeungnam University

来源：

Journal of Institute of Control, Robotics and Systems | 2022年 / 28卷 / 11期

关键词：

Autonomous Driving; Deep Deterministic Policy Gradient; Hindsight Experience Replay; Mobile Robot; Reinforcement Learning;

D O I：

10.5302/J.ICROS.2022.22.0145

中图分类号：

学科分类号：

摘要：

In this paper, we present a method to overcome the sparse reward problem that can occur in the autonomous driving of a mobile robot based on the deep deterministic policy gradient algorithm of reinforcement learning using simple reward engineering and the hindsight experience replay technique. The mobile robot used in the experiment is a robot operating system-based TurtleBot3, and the experimental environment was configured using Gazebo. To validate the effectiveness of the proposed technique, we present the experimental results with the application of HER. © ICROS 2022.

引用

页码：1006 / 1012

页数：6

共 50 条

[21] Mobile Robot Navigation based on Deep Reinforcement Learning
Ruan, Xiaogang
Ren, Dingqi
Zhu, Xiaoqing
Huang, Jing
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 6174 - 6178
[22] Autonomous Mobile Robot with Simple Navigation System Based on Deep Reinforcement Learning and a Monocular Camera
Yokoyama, Koki
Morioka, Kazuyuki
2020 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2020, : 525 - 530
[23] Autonomous Reinforcement Learning with Experience Replay for Humanoid Gait Optimization
Wawrzynski, Pawel
PROCEEDINGS OF THE INTERNATIONAL NEURAL NETWORK SOCIETY WINTER CONFERENCE (INNS-WC2012), 2012, 13 : 205 - 211
[24] Double Broad Reinforcement Learning Based on Hindsight Experience Replay for Collision Avoidance of Unmanned Surface Vehicles
Yu, Jiabao
Chen, Jiawei
Chen, Ying
Zhou, Zhiguo
Duan, Junwei
JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2022, 10 (12)
[25] Deep Reinforcement Learning for Autonomous Driving: A Survey
Kiran, B. Ravi
Sobh, Ibrahim
Talpaert, Victor
Mannion, Patrick
Al Sallab, Ahmad A.
Yogamani, Senthil
Perez, Patrick
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2022, 23 (06) : 4909 - 4926
[26] SOFT ACTOR-CRITIC REINFORCEMENT LEARNING FOR ROBOTIC MANIPULATOR WITH HINDSIGHT EXPERIENCE REPLAY
Yan, Tao
Zhang, Wenan
Yang, Simon X.
Yu, Li
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2019, 34 (05): : 536 - 543
[27] Deep Reinforcement Learning Based Mobile Robot Navigation: A Review
Zhu, Kai
Zhang, Tao
TSINGHUA SCIENCE AND TECHNOLOGY, 2021, 26 (05) : 674 - 691
[28] Tracking control for mobile robot based on deep reinforcement learning
Zhang Shansi
Wang Weiming
2019 2ND INTERNATIONAL CONFERENCE ON INTELLIGENT AUTONOMOUS SYSTEMS (ICOIAS 2019), 2019, : 155 - 160
[29] Path tracking control based on Deep reinforcement learning in Autonomous driving
Jiang, Le
Wang, Yafei
Wang, Lin
Wu, Jingkai
2019 3RD CONFERENCE ON VEHICLE CONTROL AND INTELLIGENCE (CVCI), 2019, : 414 - 419
[30] Deep Reinforcement Learning Based Mobile Robot Navigation:A Review
Kai Zhu
Tao Zhang
TsinghuaScienceandTechnology, 2021, 26 (05) : 674 - 691

← 1 2 3 4 5 →