A Soft Actor-Critic Deep Reinforcement-Learning-Based Robot Navigation Method Using LiDAR
Yanjie Liu,
Chao Wang,
Changsen Zhao
et al.
Abstract:When there are dynamic obstacles in the environment, it is difficult for traditional path-generation algorithms to achieve desired obstacle-avoidance results. To solve this problem, we propose a robot navigation control method based on SAC (Soft Actor-Critic) Deep Reinforcement Learning. Firstly, we use a fast path-generation algorithm to control the robot to generate expert trajectories when the robot encounters danger as well as when it approaches a target, and we combine SAC reinforcement learning with imit… Show more
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