基于自适应深度强化学习混合神经模糊推理系统的移动机器人路径规划算法

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Sujay Chakraborty, Ajay Singh Raghuvanshi
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引用次数: 0

摘要

移动机器人路径规划是计算移动机器人从起点到被环境包围的目标点的无碰撞路径的过程。它是移动机器人的关键组成部分,因为它使机器人能够在各种条件下独立移动和执行任务。全球定位系统(GPS)、自适应神经模糊推理系统(ANFIS)和深度强化学习(DRL)是常用的跟踪和控制工具。提出了一种基于gps的移动机器人避碰DRL-ANFIS导航方法。基于gps的控制器使机器人保持在轨道上,以实现其全局和灵活的目标。其次,采用模糊推理系统(FIS),利用模糊语言学对距离传感器数据进行避障模拟。此外,针对移动机器人在陌生环境下进行路径规划时存在的环境状态空间探索能力有限、奖励稀疏等问题,提出了一种基于增强DRL的移动机器人路径规划技术。最后,使用基于帐篷的人工蜂鸟算法(AHA)对所提出的ANFIS参数进行微调,以获得所需的位置。该方法使用MATLAB对结果进行评估。仿真研究旨在评估所提出的策略在复杂环境中导航移动机器人的有效性,以及与现有无碰撞导航系统相比的性能。因此,所提出的方法采用了更短的路径,并避开了障碍物,使机器人更接近目的地。该方法计算时间为22 s,路径规划效率为96.56%,比传统的DRL模型提高了5.56%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Adaptive Deep Reinforcement Learning Hybrid Neuro-Fuzzy Inference System Based Path Planning Algorithm for Mobile Robot

Adaptive Deep Reinforcement Learning Hybrid Neuro-Fuzzy Inference System Based Path Planning Algorithm for Mobile Robot

Mobile robot route planning is the process of calculating a mobile robot's collision-free path from a starting place to a goal point surrounded by its environment. It is a critical component of mobile robotics since it enables robots to move around and perform tasks independently in a variety of conditions. The Global Positioning System (GPS), the Adaptive Neuro-Fuzzy Inference System (ANFIS), and deep reinforcement learning (DRL) are commonly used tools for tracking as well as control. This paper proposes a GPS-based DRL-ANFIS navigation method for mobile robots that avoid collisions. The GPS-based controller keeps the robot on track to achieve its global and flexible objective. Next, a fuzzy inference system (FIS) is employed to simulate obstacle avoidance using fuzzy linguistics on distance sensor data. In addition, a mobile robot path planning technique based on enhanced DRL is proposed to address the issues of limited exploration capability and sparse reward of environmental state space in mobile robot route planning in unfamiliar environments. Finally, the proposed ANFIS parameters are fine-tuned using a tent-based artificial hummingbird algorithm (AHA) to attain the desired location. The proposed approach evaluates the results using MATLAB. The simulation study is designed to assess the proposed strategy's effectiveness in navigating a mobile robot across a complex environment, as well as its performance in comparison to existing collision-free navigation systems. As a result, the proposed approach takes a shorter path and avoids barriers to get the robot closer to its destination. The proposed approach has a computation time of 22 s and a path planning efficiency of 96.56%, which is 5.56% higher than the traditional DRL model.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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