The Determination of Reward Function in AGV Motion Control Based on DQN

Abstract

Motion control is a very important part in the field of AGV(Automated Guided Vehicle). A good motion control method can make the movement of AGV more stable. Network models of reinforcement learning is one of the methods to solve the problem of AGV in motion control. This paper introduces the Markov Decision Process and the role of reward function. Besides, it studies and analyzes several classic reinforcement learning cases. DQN(Deep Q-Learning Network) which belongs to deep reinforcement learning network model is adopted. We set up several sets of comparative experiments with different reward functions by using sparse reward setting method, formalized reward setting method and reward coefficient variation reward setting method. Also we adjust the time of training. Through comparison, a reward function suitable for solving the problem of AGV motion control is obtained. In the field of AGV motion control, reinforcement learning model can converge faster and make more correct decisions. The reward function is verified in the simulation environment built by ROS(Robot Operating System).