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...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2022-09-01
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Series: | Applied Sciences |
Subjects: | |
Online Access: | https://www.mdpi.com/2076-3417/12/19/9837 |