A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance
This paper investigates a path planning approach for the walking and obstacle avoidance of a blind hexapod robot in various field conditions. Hexapod robots often perform field tasks in unstructured environments, and their external sensors are affected by weather and light. This paper proposes the u...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/12/10/393 |
| _version_ | 1797575060320419840 |
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| author | Lei Wang Ruiwen Li Ziwei Huangfu Yishan Feng Yiyang Chen |
| author_facet | Lei Wang Ruiwen Li Ziwei Huangfu Yishan Feng Yiyang Chen |
| author_sort | Lei Wang |
| collection | DOAJ |
| description | This paper investigates a path planning approach for the walking and obstacle avoidance of a blind hexapod robot in various field conditions. Hexapod robots often perform field tasks in unstructured environments, and their external sensors are affected by weather and light. This paper proposes the use of internal sensors to sense the terrain and a slightly modified soft actor-critic algorithm to train the motion strategy. A hexapod robot is capable of walking smoothly on rough ground only using internal sensors that are not affected by weather factors, and the soft actor-critic approach is superior for overcoming high-dimensional issues for multi-degree-freedom robot motion in unstructured environments.The experiments showed that the hexapod robot not only traversed rugged terrain at a fixed speed but also possessed obstacle avoidance capabilities. |
| first_indexed | 2024-03-10T21:31:58Z |
| format | Article |
| id | doaj.art-1242e801f1634f2f8c182a020f258389 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T21:31:58Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-1242e801f1634f2f8c182a020f2583892023-11-19T15:16:25ZengMDPI AGActuators2076-08252023-10-01121039310.3390/act12100393A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle AvoidanceLei Wang0Ruiwen Li1Ziwei Huangfu2Yishan Feng3Yiyang Chen4School of Automation, Wuxi University, Wuxi 214105, ChinaSchool of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, ChinaKey Laboratory of Advanced Perception and Intelligent Control for High-End Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu 241000, ChinaSchool of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaThis paper investigates a path planning approach for the walking and obstacle avoidance of a blind hexapod robot in various field conditions. Hexapod robots often perform field tasks in unstructured environments, and their external sensors are affected by weather and light. This paper proposes the use of internal sensors to sense the terrain and a slightly modified soft actor-critic algorithm to train the motion strategy. A hexapod robot is capable of walking smoothly on rough ground only using internal sensors that are not affected by weather factors, and the soft actor-critic approach is superior for overcoming high-dimensional issues for multi-degree-freedom robot motion in unstructured environments.The experiments showed that the hexapod robot not only traversed rugged terrain at a fixed speed but also possessed obstacle avoidance capabilities.https://www.mdpi.com/2076-0825/12/10/393hexapod robotsoft actor-criticunstructured environmentadaptive motionobstacle avoidance |
| spellingShingle | Lei Wang Ruiwen Li Ziwei Huangfu Yishan Feng Yiyang Chen A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance Actuators hexapod robot soft actor-critic unstructured environment adaptive motion obstacle avoidance |
| title | A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance |
| title_full | A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance |
| title_fullStr | A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance |
| title_full_unstemmed | A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance |
| title_short | A Soft Actor-Critic Approach for a Blind Walking Hexapod Robot with Obstacle Avoidance |
| title_sort | soft actor critic approach for a blind walking hexapod robot with obstacle avoidance |
| topic | hexapod robot soft actor-critic unstructured environment adaptive motion obstacle avoidance |
| url | https://www.mdpi.com/2076-0825/12/10/393 |
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