软件导刊2024，Vol.23Issue(12)：119-124,6.DOI:10.11907/rjdk.232286
改进SARSA算法的移动机器人路径规划研究
Research on Path Planning of Mobile Robot with Improved SARSA Algorithm
井征淼 1刘宏杰 2周永录2
作者信息
- 1. 云南大学 信息学院,云南 昆明 650504
- 2. 云南大学 信息学院,云南 昆明 650504||云南省高校数字媒体技术重点实验室,云南 昆明 650223
- 折叠
摘要
Abstract
Aiming at the problems of slow convergence speed,high exploration randomness,and poor path planning performance in mobile ro-bot path planning using traditional SARSA algorithm,this paper proposes an improved SARSA algorithm that combines artificial potential field method with traditional SARSA algorithm.Firstly,the reward function of the algorithm is controlled by the gravity function of the artificial po-tential field to increase the guidance during exploration;Secondly,using the repulsive function of the artificial potential field to generate μ To effectively adjust the Q value in path planning,the value should be adjusted to lower the Q value as it approaches obstacles,thereby improv-ing the convergence speed of the path planning algorithm and reducing the frequency of collisions with obstacles.The improved SARSA algo-rithm was compared with other algorithms through simulation experiments,and the results showed that the improved SARSA algorithm has sig-nificantly improved performance in convergence speed,average learning time,average learning steps,and average number of collisions with obstacles,which can effectively enhance the path planning ability of intelligent actions of mobile robots.关键词
强化学习/改进SARSA/人工势场法/路径规划/移动机器人Key words
reinforcement learning/improved SARSA/artificial potential field method/path planning/mobile robot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..改进SARSA算法的移动机器人路径规划研究[J].软件导刊,2024,23(12):119-124,6.
