Optimizing Robotic Task Sequencing and Trajectory Planning on the Basis of Deep Reinforcement Learning.

Abstract

The robot task sequencing problem and trajectory planning problem are two important issues in the robotic optimization domain and are solved sequentially in two separate levels in traditional studies. This paradigm disregards the potential synergistic impact between the two problems, resulting in a local optimum solution. To address this problem, this paper formulates a co-optimization model that integrates the task sequencing problem and trajectory planning problem into a holistic problem, abbreviated as the robot TSTP problem. To solve the TSTP problem, we model the optimization process as a Markov decision process and propose a deep reinforcement learning (DRL)-based method to facilitate problem solving. To validate the proposed approach, multiple test cases are used to verify the feasibility of the TSTP model and the solving capability of the DRL method. The real-world experimental results demonstrate that the DRL method can achieve a 30.54% energy savings compared to the traditional evolution algorithm, and the computational time required by the proposed DRL method is much shorter than those of the evolutionary algorithms. In addition, when adopting the TSTP model, a 18.22% energy reduction can be achieved compared to using the sequential optimization model.