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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 41, 2024 No. 5
1456-1461

Autonomous navigation policy optimization algorithm for mobile robots based on trajectory guidance

Li Zhongwei
Liu Weipeng
Luo Cai
College of Oceanography & Space Informatics, China University of Petroleum(East China), Qingdao Shandong 266580, China
DOI: 10.19734/j.issn.1001-3695.2023.09.0422

Abstract

Addressing the exploration challenges faced by mobile robots using deep reinforcement learning for autonomous navigation in cluttered, obstacle-dense complex environments, this paper proposed the trajectory-guided navigation policy optimization(TGNPO) algorithm. Firstly, it employed an imitation learning approach to train an expert policy for a mobile robot, which could provide both expert demonstration behavior and navigation trajectory prediction and aimed to comprehensively guide the training of deep reinforcement learning. Secondly, it fused the predicted navigation trajectory from the expert policy with real-time images perceived by the mobile robot at the current moment. Combining the coordinate attention mechanism, it extracted feature regions which would guide the robot's future navigation, thereby enhancing the learning performance of the navigation model. Finally, it utilized the navigation trajectory predicted by the expert policy to constrain the policy trajectory of the mobile robot, mitigating ineffective exploration and erroneous decision-making during navigation process By deploying the proposed algorithm on both simulation and physical platforms, experimental results demonstrated significant advantages in navigation learning efficiency and trajectory smoothness compared to existing state-of-the-art methods which fully proves the proposed algorithm's capability to efficiently and safely execute robot navigation tasks.

Foundation Support

国家自然科学基金面上项目(62071491)
校自主创新科研计划项目(理工科)-战略专项资助项目(22CX01004A-1)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.09.0422
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 5
Section: Algorithm Research & Explore
Pages: 1456-1461
Serial Number: 1001-3695(2024)05-025-1456-06

Publish History

[2023-12-04] Accepted Paper
[2024-05-05] Printed Article

Cite This Article

李忠伟, 刘伟鹏, 罗偲. 基于轨迹引导的移动机器人导航策略优化算法 [J]. 计算机应用研究, 2024, 41 (5): 1456-1461. (Li Zhongwei, Liu Weipeng, Luo Cai. Autonomous navigation policy optimization algorithm for mobile robots based on trajectory guidance [J]. Application Research of Computers, 2024, 41 (5): 1456-1461. )

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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