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DOI: 10.14569/IJACSA.2023.0140842
PDF

Research on the Local Path Planning for Mobile Robots based on PRO-Dueling Deep Q-Network (DQN) Algorithm

Author 1: Yaoyu Zhang
Author 2: Caihong Li
Author 3: Guosheng Zhang
Author 4: Ruihong Zhou
Author 5: Zhenying Liang

International Journal of Advanced Computer Science and Applications(IJACSA), Volume 14 Issue 8, 2023.

  • Abstract and Keywords
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Abstract: This paper proposes a Pro-Dueling DQN algorithm to solve the problems of slow convergence speed and waste of effective experience of the traditional DQN (Deep Q-Network) algorithm for the local path planning of mobile robot. The new algorithm introduces a priority experience playback mechanism based on SumTree to avoid forgetting the learning effective experiences as the number of samples in the experience pool increases. A more detailed reward and punishment function is designed for the new algorithm to reduce the blindness of extracting experience in the early stages of algorithm training. The feasibility of the algorithm is verified by comparative verification on ROS simulation platform and real scene, respectively. The results show that the designed Pro-Dueling DQN algorithm converges faster and the length of planned path is shorter than that of the original DQN algorithm.

Keywords: Deep Q-Network (DQN) algorithm; local path planning; mobile robot; Pro-Dueling DQN algorithm; SumTree

Yaoyu Zhang, Caihong Li, Guosheng Zhang, Ruihong Zhou and Zhenying Liang, “Research on the Local Path Planning for Mobile Robots based on PRO-Dueling Deep Q-Network (DQN) Algorithm” International Journal of Advanced Computer Science and Applications(IJACSA), 14(8), 2023. http://dx.doi.org/10.14569/IJACSA.2023.0140842

@article{Zhang2023,
title = {Research on the Local Path Planning for Mobile Robots based on PRO-Dueling Deep Q-Network (DQN) Algorithm},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2023.0140842},
url = {http://dx.doi.org/10.14569/IJACSA.2023.0140842},
year = {2023},
publisher = {The Science and Information Organization},
volume = {14},
number = {8},
author = {Yaoyu Zhang and Caihong Li and Guosheng Zhang and Ruihong Zhou and Zhenying Liang}
}



Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

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