The invention provides a navigation method and device for realizing a map-free
navigation model based on knowledge guidance, a
robot and a storage medium, the map-free
navigation model is obtained by training a pre-constructed DDPG
algorithm model based on a plurality of action rules in a knowledge
system, and the generalization is stronger compared with navigation by singly adopting a DDPG
algorithm. In the training process, the motion selection randomness of a DDPG
algorithm model can be reduced by fusing a guide motion instruction and a strategy motion instruction, so that valuable data can be quickly obtained, the learning efficiency is improved, in an environment with sparse rewards, the
mobile robot can interact with the environment under the guidance of knowledge instead of random interaction, and the training efficiency is improved.
Local optimum is avoided, and it is guaranteed that convergence is easy in the reward sparse environment; and inputting the strategy action instruction and the integrated action instruction obtained by fusion into the preset
loss function, thereby reducing the uncertainty of the corresponding
loss function when a DDPG algorithm is singly adopted, and enabling the learning process to be more stable.