Path Planning for Multi-Arm Manipulators Using Soft Actor-Critic Algorithm with Position Prediction of Moving Obstacles via LSTM

Path Planning for Multi-Arm Manipulators Using Soft Actor-Critic Algorithm with Position Prediction of Moving Obstacles via LSTM

This paper presents a deep reinforcement learning-based path planning algorithm for the multi-arm robot manipulator when there are both fixed and moving obstacles in the workspace. Considering the problem properties such as high dimensionality and continuous action, the proposed algorithm employs th...

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Bibliographic Details
Main Authors: Kwan-Woo Park, MyeongSeop Kim, Jung-Su Kim, Jae-Han Park
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Applied Sciences
Subjects:
path planning
multi-arm manipulators
moving obstacles
reinforcement learning
soft actor-critic (SAC)
hindsight experience replay (HER)
Online Access:https://www.mdpi.com/2076-3417/12/19/9837

Internet

https://www.mdpi.com/2076-3417/12/19/9837

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