Proximal policy optimization based dynamic path planning algorithm for mobile robots
Abstract For the scenario where the overall layout is known and the obstacle distribution information is unknown, a dynamic path planning algorithm combining the A* algorithm and the proximal policy optimization (PPO) algorithm is proposed. Simulation experiments show that in all six test environmen...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | Electronics Letters |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/ell2.12342 |
| _version_ | 1811183596639092736 |
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| author | Xin Jin Zhengxiao Wang |
| author_facet | Xin Jin Zhengxiao Wang |
| author_sort | Xin Jin |
| collection | DOAJ |
| description | Abstract For the scenario where the overall layout is known and the obstacle distribution information is unknown, a dynamic path planning algorithm combining the A* algorithm and the proximal policy optimization (PPO) algorithm is proposed. Simulation experiments show that in all six test environments, the proposed algorithm finds paths that are on average about 2.04% to 5.86% shorter compared to the state‐of‐the‐art algorithms in the literature, and reduces the number of training epochs before stabilization from tens of thousands to about 4000. |
| first_indexed | 2024-04-11T09:48:37Z |
| format | Article |
| id | doaj.art-603f649473774c549a98ad90b0e7a856 |
| institution | Directory Open Access Journal |
| issn | 0013-5194 1350-911X |
| language | English |
| last_indexed | 2024-04-11T09:48:37Z |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Electronics Letters |
| spelling | doaj.art-603f649473774c549a98ad90b0e7a8562022-12-22T04:30:52ZengWileyElectronics Letters0013-51941350-911X2022-01-01581131510.1049/ell2.12342Proximal policy optimization based dynamic path planning algorithm for mobile robotsXin Jin0Zhengxiao Wang1Department of Mechanical Engineering Zhejiang University No.38, ZheDa Street, XiHu District Hangzhou People's Republic of ChinaDepartment of Mechanical Engineering Zhejiang University No.38, ZheDa Street, XiHu District Hangzhou People's Republic of ChinaAbstract For the scenario where the overall layout is known and the obstacle distribution information is unknown, a dynamic path planning algorithm combining the A* algorithm and the proximal policy optimization (PPO) algorithm is proposed. Simulation experiments show that in all six test environments, the proposed algorithm finds paths that are on average about 2.04% to 5.86% shorter compared to the state‐of‐the‐art algorithms in the literature, and reduces the number of training epochs before stabilization from tens of thousands to about 4000.https://doi.org/10.1049/ell2.12342Computer communicationsMobile radio systemsOptimisation techniquesSpatial variables controlMobile robotsMultiprocessing systems |
| spellingShingle | Xin Jin Zhengxiao Wang Proximal policy optimization based dynamic path planning algorithm for mobile robots Electronics Letters Computer communications Mobile radio systems Optimisation techniques Spatial variables control Mobile robots Multiprocessing systems |
| title | Proximal policy optimization based dynamic path planning algorithm for mobile robots |
| title_full | Proximal policy optimization based dynamic path planning algorithm for mobile robots |
| title_fullStr | Proximal policy optimization based dynamic path planning algorithm for mobile robots |
| title_full_unstemmed | Proximal policy optimization based dynamic path planning algorithm for mobile robots |
| title_short | Proximal policy optimization based dynamic path planning algorithm for mobile robots |
| title_sort | proximal policy optimization based dynamic path planning algorithm for mobile robots |
| topic | Computer communications Mobile radio systems Optimisation techniques Spatial variables control Mobile robots Multiprocessing systems |
| url | https://doi.org/10.1049/ell2.12342 |
| work_keys_str_mv | AT xinjin proximalpolicyoptimizationbaseddynamicpathplanningalgorithmformobilerobots AT zhengxiaowang proximalpolicyoptimizationbaseddynamicpathplanningalgorithmformobilerobots |