火力与指挥控制2024，Vol.49Issue(3)：135-141,7.DOI:10.3969/j.issn.1002-0640.2024.03.019
基于改进Q-learning算法的移动机器人路径规划
Research on Path Planning of Mobile Robots Based on Improved Q-learning Algorithm
摘要
Abstract
Aiming at such problems as slow convergence speed,long running time and poor learning efficiency in the application of traditional Q-learning algorithm in path planning,an improved Q-learning algorithm combining artificial potential field method and traditional Q-learning algorithm is proposed.The gravitational function and repulsion function of the artificial potential field method are introduced by the algorithm,the reward value is dynamically selected by comparing the gravitational function,and Valueλis calculated by comparingthe repulsion function,the value Q is dynamically updated so that the mobile robot can make explorations with purposes,and can preferentially choose the position far away from the obstacle to move.The simulation experiment proves that,compared with the traditional Q-learning algorithm and the introduction of gravitational field algorithm,the improved Q-learning algorithm speeds up the convergence speed,shortens the running time,improves the learning efficiency,reduces the probability of collision with obstacles,and enables the mobile robots to find a collision free path quickly.关键词
移动机器人/路径规划/改进的Q-learning/人工势场法/强化学习Key words
mobile robots/path planning/improved Q-learning/artificial potential field method/reinforcement learning分类
信息技术与安全科学引用本文复制引用
井征淼,刘宏杰,周永录..基于改进Q-learning算法的移动机器人路径规划[J].火力与指挥控制,2024,49(3):135-141,7.
