Robot path navigation method and system based on improved DDPG algorithm
A path navigation and robot technology, which is applied in the field of robot path navigation methods and systems, and can solve problems such as inaccurate navigation
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment 1
[0036] The present embodiment provides the robot path navigation method based on the improved DDPG algorithm;
[0037] Such as figure 1 As shown, the robot path navigation method based on the improved DDPG algorithm includes:
[0038] S101: Obtain the current state information and target position of the robot;
[0039] S102: Input the current state information and target position of the robot into the improved DDPG network after training to obtain optimal executable action data;
[0040] S103: The robot completes collision-free path navigation according to the optimal executable motion data;
[0041]Wherein, the improved DDPG network is based on the DDPG network, and the reward value calculation of the DDPG network is completed using a curiosity reward mechanism model; the curiosity reward mechanism model includes: several sequentially connected LSTM models; the sequentially connected In the LSTM model of , the input terminals of all LSTM models are connected to the output ...
Embodiment 2
[0082] The present embodiment provides the robot path navigation system based on the improved DDPG algorithm;
[0083] Robot path navigation system based on improved DDPG algorithm, including:
[0084] An acquisition module configured to: acquire the current state information and target position of the robot;
[0085] The output module is configured to: input the current state information and target position of the robot into the improved DDPG network after training to obtain the optimal executable action data;
[0086] A navigation module, which is configured to: the robot completes collision-free path navigation according to the optimal executable motion data;
[0087] Wherein, the improved DDPG network is based on the DDPG network, and the reward value calculation of the DDPG network is completed using a curiosity reward mechanism model; the curiosity reward mechanism model includes: several sequentially connected LSTM models; the sequentially connected In the LSTM model ...
Embodiment 3
[0092] This embodiment also provides an electronic device, including: one or more processors, one or more memories, and one or more computer programs; wherein, the processor is connected to the memory, and the one or more computer programs are programmed Stored in the memory, when the electronic device is running, the processor executes one or more computer programs stored in the memory, so that the electronic device executes the method described in Embodiment 1 above.
[0093] It should be understood that in this embodiment, the processor can be a central processing unit CPU, and the processor can also be other general-purpose processors, digital signal processors DSP, application specific integrated circuits ASIC, off-the-shelf programmable gate array FPGA or other programmable logic devices , discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, o...
PUM
Login to View More Abstract
Description
Claims
Application Information
Login to View More