现代制造工程Issue(5)：42-52,11.DOI:10.16731/j.cnki.1671-3133.2025.05.006
基于A-TD3的码垛机器人轨迹规划
Palletizing robot trajectory planning based on A-TD3
摘要
Abstract
The application of deep reinforcement learning algorithms in palletizing robotic arm trajectory planning suffer from slow learning rate and poor robustness.To address the above problems,a Twin Delayed Deep Deterministic policy gradient(TD3)al-gorithm based on improved Azimuthal reward function(A)is proposed for trajectory planning of robotic arm.First,the mathemat-ical model of the palletizing robot is established in Cartesian coordinate system and its kinematic analysis is carried out.Second,for the problems of slow learning rate and poor robustness,based on the relative directions and positions of the robotic arm and the obstacles,an improved Azimuthal reward function combined with Twin Delayed Deep Deterministic policy gradient(A-TD3)al-gorithm is designed for the palletizing robotic arm trajectory planning,which enhances the robotic arm target oriented search,and improves the learning efficiency and robustness.Simulation results show that compared with the TD3 algorithm,the average con-vergence speed of A-TD3 algorithm is improved by 11.84％,the average reward value is improved by 4.64％,the average ex-treme deviation is decreased by 10.30％,and the trajectory planning time is lower than that of the mainstream RRT and GA al-gorithms,which verifies the effectiveness of the A-TD3 algorithm in the application of palletizing robotic arm trajectory planning.关键词
机械臂/深度强化学习/改进方位奖励函数/双延迟深度确定性策略梯度/轨迹规划Key words
robotic arm/deep reinforcement learning/improved Azimuthal reward function(A)/Twin Delayed Deep Deterministic policy gradient(TD3)/trajectory planning分类
计算机与自动化引用本文复制引用
金桥,杨光锐,王霄,徐凌桦,张芳..基于A-TD3的码垛机器人轨迹规划[J].现代制造工程,2025,(5):42-52,11.基金项目
国家自然科学基金资助项目(61861007,61640014) （61861007,61640014）
贵州省科技计划资助项目(黔科合基础-ZK[2021]一般303) （黔科合基础-ZK[2021]一般303）
贵州省科技支撑计划资助项目(黔科合支撑[2022]一般017,黔科合支撑[2022]一般264,黔科合支撑[2023]一般096,黔科合支撑[2023]一般412,黔科合支撑[2023]一般409) （黔科合支撑[2022]一般017,黔科合支撑[2022]一般264,黔科合支撑[2023]一般096,黔科合支撑[2023]一般412,黔科合支撑[2023]一般409）
贵州省教育厅创新群体项目(黔教合KY字[2021]012) （黔教合KY字[2021]012）
中国电力建设股份有限公司科技项目(DJ-ZDXM-2022-44) （DJ-ZDXM-2022-44）
贵大引进人才项目(贵大人基合字(2014)08号) （贵大人基合字(2014）
