机械科学与技术2024，Vol.43Issue(8)：1411-1417,7.DOI:10.13433/j.cnki.1003-8728.20240086
RL-RSA算法的移动机器人自主避障技术
Autonomous Obstacle Avoidance Technology of Mobile Robot Based on RL-RSA Algorithm
摘要
Abstract
To solve the low search efficiency and lack of dynamic obstacle avoidance ability of mobile robots in autonomous obstacle avoidance,an obstacle avoidance method combining the reinforcement learning(RL)and the reptile search algorithm(RSA)was proposed.The Q learning model for reinforcement learning was adopted to balance the exploration and development process of RSA algorithm,in order to improve the search efficiency of the algorithm.The chaotic mechanism and random opposition learning strategy were adopted to increase the diversity of the population and jump out of the local extreme value.The static and dynamic scenarios simulation show that the RL-RSA algorithm was better that the algorithm in terms of the path length,optimization time and running time.The feasibility of RL-RSA algorithm and its excellent comprehensive obstacle avoidance performance were verified with the experiments.关键词
强化学习/爬行动物搜索算法/移动机器人/避障Key words
reinforcement learning/reptile search algorithm/mobile robot/obstacle avoidance分类
信息技术与安全科学引用本文复制引用
邵浩然,陈建松..RL-RSA算法的移动机器人自主避障技术[J].机械科学与技术,2024,43(8):1411-1417,7.基金项目
教育部高等教育司产学合作协同育人项目(202101204004) （202101204004）
