Position control of mobile robot based on deep reinforcement learning

Guobin Hu; Hui Chai; Xi Pu; Min Guo

doi:10.1117/12.3024732

3 April 2024 Position control of mobile robot based on deep reinforcement learning

Guobin Hu, Hui Chai, Xi Pu, Min Guo

Proceedings Volume 13078, Second International Conference on Informatics, Networking, and Computing (ICINC 2023); 130780I (2024) https://doi.org/10.1117/12.3024732
Event: Second International Conference on Informatics, Networking, and Computing (ICINC 2023), 2023, Wuhan, China

Abstract

In the field of mobile robot control, the utilization of reinforcement learning methods often faces the challenge of sparse rewards, resulting in suboptimal control performance. This paper proposes an approach that leverages the Diversity is All You Need (DIAYN) framework to dynamically generate reward functions and enhance the policy network weights of reinforcement learning algorithms. A comparative analysis is conducted with traditional reinforcement learning algorithms, namely Deep Deterministic Policy Gradient (DDPG), Deep Q-Network (DQN), and behavior-based robotic and proportional-integral-derivative (BBR PID) planning control algorithm. The results obtained from the CoppeliaSim simulation experiment demonstrate that, under identical training conditions, the DIAYN-based DDPG algorithm exhibits superior learning capability and achieves faster convergence to optimal actions. Consequently, the mobile robot can reach the target point more efficiently and with greater stability.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Guobin Hu, Hui Chai, Xi Pu, and Min Guo "Position control of mobile robot based on deep reinforcement learning", Proc. SPIE 13078, Second International Conference on Informatics, Networking, and Computing (ICINC 2023), 130780I (3 April 2024); https://doi.org/10.1117/12.3024732

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