로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제19권1호
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  • Pages.92-97
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  • 2024
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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분포형 강화학습을 활용한 맵리스 네비게이션

Mapless Navigation with Distributional Reinforcement Learning

  • Van Manh Tran (Intelligent Systems and Robotics, Chungbuk National University) ;
  • Gon-Woo Kim (Intelligent Systems and Robotics, Chungbuk National University)
  • 투고 : 2023.10.31
  • 심사 : 2023.11.24
  • 발행 : 2024.02.29
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초록

This paper provides a study of distributional perspective on reinforcement learning for application in mobile robot navigation. Mapless navigation algorithms based on deep reinforcement learning are proven to promising performance and high applicability. The trial-and-error simulations in virtual environments are encouraged to implement autonomous navigation due to expensive real-life interactions. Nevertheless, applying the deep reinforcement learning model in real tasks is challenging due to dissimilar data collection between virtual simulation and the physical world, leading to high-risk manners and high collision rate. In this paper, we present distributional reinforcement learning architecture for mapless navigation of mobile robot that adapt the uncertainty of environmental change. The experimental results indicate the superior performance of distributional soft actor critic compared to conventional methods.

키워드

과제정보

This work was supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program-ATC+) (20009546, Development of service robot core technology that can provide advanced service in real life) funded By the Ministry of Trade, Industry & Energy (MOTIE, Korea)

참고문헌

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