Reinforcement Learning Path Planning Method with Error Estimation

Feihu Zhang, Can Wang, Chensheng Cheng, Dianyu Yang and Guang Pan
Additional contact information
Feihu Zhang: School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
Can Wang: School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
Chensheng Cheng: School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
Dianyu Yang: School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
Guang Pan: School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China

Energies, 2021, vol. 15, issue 1, 1-11

Abstract: Path planning is often considered as an important task in autonomous driving applications. Current planning method only concerns the knowledge of robot kinematics, however, in GPS denied environments, the robot odometry sensor often causes accumulated error. To address this problem, an improved path planning algorithm is proposed based on reinforcement learning method, which also calculates the characteristics of the cumulated error during the planning procedure. The cumulative error path is calculated by the map with convex target processing, while modifying the algorithm reward and punishment parameters based on the error estimation strategy. To verify the proposed approach, simulation experiments exhibited that the algorithm effectively avoid the error drift in path planning.

Keywords: path planning; error estimation; q-Learning; global planning; statistical characteristics (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/1996-1073/15/1/247/pdf (application/pdf)
https://www.mdpi.com/1996-1073/15/1/247/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:15:y:2021:i:1:p:247-:d:714725

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().