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Intelligent Service Robotics

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16-01-2020 | Original Research

Path planning for active SLAM based on deep reinforcement learning under unknown environments

Authors: Shuhuan Wen, Yanfang Zhao, Xiao Yuan, Zongtao Wang, Dan Zhang, Luigi Manfredi

Published in: Intelligent Service Robotics | Issue 2/2020

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Abstract

Autonomous navigation in complex environment is an important requirement for the design of a robot. Active SLAM (simultaneous localization and mapping) combining, which combine path planning with SLAM, is proposed to improve the ability of autonomous navigation in complex environment. In this paper, fully convolutional residual networks are used to recognize the obstacles to get depth image. The avoidance obstacle path is planned by Dueling DQN algorithm in the robot’s navigation; at the same time, the 2D map of the environment is built based on FastSLAM. The experiments show that the proposed algorithm can successfully identify and avoid moving and static obstacles with different quantities in the environment, and realize the autonomous navigation of the robot in a complex environment.

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Title: Path planning for active SLAM based on deep reinforcement learning under unknown environments
Authors: Shuhuan Wen
Yanfang Zhao
Xiao Yuan
Zongtao Wang
Dan Zhang
Luigi Manfredi
Publication date: 16-01-2020
Publisher: Springer Berlin Heidelberg
Published in: Intelligent Service Robotics / Issue 2/2020
Print ISSN: 1861-2776
Electronic ISSN: 1861-2784
DOI: https://doi.org/10.1007/s11370-019-00310-w

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