This application discloses a U-Q-Learning-based
mobile robot path
planning method in unknown environments, comprising: designing a composite reward function including a repetitive movement penalty, a distance reward, and a state transition
heuristic reward; initializing a Q-table, an
action selection count table, and a state visit count table, as well as an exploration rate, a learning rate, and a discount factor; calculating the upper confidence bound of actions based on the Q-value of the state, the number of action selections, and the number of state visits, and dynamically adjusting the exploration rate; if the current exploration rate is large, randomly selecting an action from the action space; otherwise, selecting the action with the largest upper confidence bound; the
robot executing the selected action, transitioning to the next state, and calculating the immediate reward; adaptively adjusting the learning rate, updating the current Q-value by combining the immediate reward, the discount factor, and the maximum Q-value of the next state, updating the state to the next state, repeating multiple iterations until the
algorithm converges, and outputting the optimal path based on the optimized final Q-table. This application can improve the efficiency and stability of path planning.