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

Inactive Publication Date: 2019-10-29
HARBIN ENG UNIV
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Problems solved by technology

[0006] (1) Although the path planning algorithm of the non-intelligent algorithm is flexible, simple, and highly operable, most of them must predict the environmental information, and the robot's ability to perceive the environment is weak
In the case of complex and changeable environment or lack of environmental information, traditional algorithms have poor applicability;
[0007] (2) Although the intelligent path

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  • Path planning method based on DBQ algorithm
  • Path planning method based on DBQ algorithm
  • Path planning method based on DBQ algorithm

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[0058] Example 1:

[0059] Based on the above description of the problem, in order to achieve the purpose of the present invention, the present invention adopts the following steps:

[0060] Step 001. The robot action selection rule is to formulate the robot action selection rule mainly through the environment state information defined by the position information of the obstacle relative to the robot and the action space defined according to the eight directions of the robot action selection.

[0061] Step 002. The BP neural network action selector defines the feature vector output by the neural network according to the motion rules of the agent.

[0062] Step 003. Path planning, using the rule-based action selection model constructed in step 002 to replace the action selection mechanism in the Dyna-Q algorithm to plan the robot path.

[0063] The step 001 specifically includes the following steps:

[0064] Step 00101. Definition of environmental status information. Define the position ...

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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.

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...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D2201/0217
Inventor 徐东陈云飞丁戈张子迎孟宇龙宫思远潘思辰杨旭
Owner HARBIN ENG UNIV
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