Multi-Point path planning for robots based on deep reinforcement learning

Abstract

Motion Planning is a key technology for mobile robots, which decomposes a Motion task that cannot be completed by a single action into multiple discrete actions that can be performed. This paper aims to design a robot motion planning algorithm based on reinforcement learning and make a robot carry out continuous multi-objective point motion planning. Motion planning network is a planning algorithm based on a neural network, and DQN is a classical algorithm in the field of reinforcement learning. Based on the two kinds of algorithm for motion planning, the Deep Q - learning algorithm chooses the robot’s next target, and then through the motion planning of the network between the current coordinates to the next target path planning. This paper analyzes the performance of the multi-point motion planning algorithm, and the results show that the algorithm is able to a higher success rate of successful completion of the task planning, but the reward strategy derived from the experiment still has the possibility of optimization.