Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 3
681-687

Research on AGV path planning method in complex environment based on improved DDPG algorithm

Meng Chenyang1
Hao Chongqing1
Li Ran1
Wang Xiaobo2
Wang Zhaolei3
Zhao Jiang1
1. School of Electrical Engineering, Hebei University of Science & Technology, Shijiazhuang 050018, China
2. Dept. of Intelligent Manufacturing, Hebei Polytechnic College, Shijiazhuang 050091, China
3. State Grid Hebei Electric Power Supply Co. Ltd. , Shijiazhuang 050051, China
DOI: 10.19734/j.issn.1001-3695.2021.08.0392

Abstract

In order to improve the search ability of AGV in complex unknown environment, this paper proposed an improved DDPG. It constructed the empirical playback matrix and double-layer network structure to improve the convergence speed of the algorithm ε-greedy in the green search strategy, to solve the local optimization problem of AGV in selecting the optimal action. To solve the problem of slow training speed of deep neural network, it applied priority sampling to depth deterministic strategy gradient algorithm. In order to solve the problem of high complexity of ordinary priority sampling, this paper proposed a small batch priority sampling method to train the network. In order to verify the effectiveness of the method, it used the grid method to model and compare the simulation experiments in different complex environments. It compared the loss function, iteration times and return value of different algorithms. The experimental results show that compared with the original algorithm, the improved algorithm reduces the loss function, reduces the number of iterations and increases the return value, which verifies the effectiveness of the algorithm. At the same time, it provides a new idea for AGV to complete the planning task more safely and quickly in complex environment.

Foundation Support

国家自然科学基金资助项目(51507048)
河北省重点研发计划项目(20326628D)
河北省高等学校科学技术研究项目(ZD2016142)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.08.0392
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 3
Section: Algorithm Research & Explore
Pages: 681-687
Serial Number: 1001-3695(2022)03-006-0681-07

Publish History

[2021-11-30] Accepted Paper
[2022-03-05] Printed Article

Cite This Article

孟晨阳, 郝崇清, 李冉, 等. 基于改进DDPG算法的复杂环境下AGV路径规划方法研究 [J]. 计算机应用研究, 2022, 39 (3): 681-687. (Meng Chenyang, Hao Chongqing, Li Ran, et al. Research on AGV path planning method in complex environment based on improved DDPG algorithm [J]. Application Research of Computers, 2022, 39 (3): 681-687. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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