Pedestrian-sensing obstacle avoidance method for service robot based on deep reinforcement learning

Abstract

The invention discloses a pedestrian-sensing obstacle avoidance method for a service robot based on deep reinforcement learning, and relates to the field of deep learning and service robot obstacle avoidance. In a training phase of the method, firstly, training data is generated by using an ORCA algorithm; then, an experimental scene is randomly generated, and an initialized reinforcement learningmodel is interacted with the environment to generate new training data to be merged into the original training data; finally, an SGD algorithm is used for training a network on the new training datato obtain a final network model. In an execution stage of the method, the state of the surrounding pedestrians is obtained by a laser radar, the predicted state is calculated according to the trainedmodel and the bonus function, and the action of obtaining the maximum reward is selected as the output and executed. The method has strong instantaneity and adaptability, in the pedestrian environment, the robot can comply with rules for pedestrians to walk on the right lines, an efficient, safe and natural path is planned, and the intelligence and sociality of the service robot are improved.

Description

technical field [0001] The invention relates to the field of deep learning and obstacle avoidance of service robots, in particular to a pedestrian-aware obstacle avoidance method for service robots based on deep reinforcement learning. Background technique [0002] With the increase in labor costs, robots have begun to replace human workers in various fields, especially in the field of public services, such as takeaway robots, express delivery robots, shopping guide robots, etc. The scenes faced by these robots generally have many highly dynamic obstacles, such as pedestrians. How to enable service robots to navigate autonomously in a pedestrian environment and avoid pedestrian obstacles efficiently, safely and naturally has become a key issue that limits the wider application of service robots. In the pedestrian environment, the adaptability of the traditional obstacle avoidance algorithm becomes poor, and sometimes it will show unsafe behaviors such as sudden stop and sha...

AI Technical Summary

Problems solved by technology

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to overcome the problem existing in the prior art that it is difficult to model the obstacle avoidance mechanism of pedestrians, and to overcome the end-to-end The training method is usually difficult to converge, or the convergence is very slow

Images