Path planning for active SLAM based on deep reinforcement learning under unknown environments

Shuhuan Wen (Lead / Corresponding author), Yanfang Zhao, Xiao Yuan, Zongtao Wang, Dan Zhang, Luigi Manfredi

    Research output: Contribution to journalArticlepeer-review

    84 Citations (Scopus)

    Abstract

    Autonomous navigation in complex environment is an important requirement for the design of a robot. Active SLAM (simultaneous localization and mapping) combining, which combine path planning with SLAM, is proposed to improve the ability of autonomous navigation in complex environment. In this paper, fully convolutional residual networks are used to recognize the obstacles to get depth image. The avoidance obstacle path is planned by Dueling DQN algorithm in the robot’s navigation; at the same time, the 2D map of the environment is built based on FastSLAM. The experiments show that the proposed algorithm can successfully identify and avoid moving and static obstacles with different quantities in the environment, and realize the autonomous navigation of the robot in a complex environment.

    Original languageEnglish
    Pages (from-to)263-272
    Number of pages10
    JournalIntelligent Service Robotics
    Volume13
    Issue number2
    Early online date16 Jan 2020
    DOIs
    Publication statusPublished - Apr 2020

    Keywords

    • Path planning
    • FastSLAM
    • Deep reinforcement learning

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Artificial Intelligence
    • Engineering (miscellaneous)
    • Computational Mechanics

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