Path planning method based on DBQ algorithm

A path planning and algorithm technology, applied in two-dimensional position/course control, vehicle position/route/height control, non-electric variable control, etc., can solve the problems of poor applicability of algorithms, low learning efficiency, and low probability of rewards, etc. problem, to achieve the effect of improving accuracy and speeding up convergence
CN110389591AInactive Publication Date: 2019-10-29HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HARBIN ENG UNIV
Publication Date
2019-10-29
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention belongs to the field of robot path planning, and particularly relates to a path planning method based on DBQ algorithm. The path planning method provided by the invention performs improvement by reinforced learning of the action selection mechanism in the Dyna-Q algorithm, and mainly solves the following three path planning problems: 1, solving the problem of low learning efficiencyof the robot in the early stages when learning in the environment; 2, improving the accuracy of robot path planning; and 3, speeding up the convergence of the algorithm.
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Description

technical field

[0001] The invention belongs to the field of robot path planning, and in particular relates to a path planning method based on a DBQ algorithm. Background technique

[0002] In recent years, with the development of modern science and technology, especially computer technology, electronic communication technology, and control technology, the performance of mobile robots has been continuously improved, making them widely used in medical and health care, aerospace, machinery manufacturing, education and entertainment, etc. application. The prerequisite for mobile robots to complete various tasks in various fields is to plan an effective path from the starting position to the target point of the task, so path planning technology emerges as the times require. Path planning technology is the basis of research on related technologies of mobile robots, and it is also an important part of robotics. Most of the traditional path planning methods require a complete inf...

Claims

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