Autonomous navigation of a mobile robot in dynamic indoor environments using SLAM and reinforcement learning

2nd International conference on Advances in Mechanical Engineering

Chewu, C.C.E.^1 ; Manoj Kumar, V.^1

Department of Mechanical Engineering, SRM Institute of Science and Technology, Kattankulathur, India^1

关键词: Autonomous navigation;    Dynamic environments;    Dynamic obstacle avoidance;    Dynamic obstacles;    Indoor environment;    Path planning problems;    Q-learning algorithms;    Reinforcement learning techniques;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/402/1/012022/pdf
DOI  :  10.1088/1757-899X/402/1/012022

来源: IOP

【 摘 要 】

The recent advances in robotics has resulted in a more convenient use of mobile robots in alications such as assisting the disabled, deliveries and domestic purposes. The main challenge faced by mobile robots is navigation in a dynamic environment, which is path planning for dynamic obstacle avoidance. This paper proposes a novelty method for solving the path planning problem for mobile robots posed by dynamic obstacles based on SLAM (Simultaneous Localisation and Maing) algorithm and Reinforcement Learning. The algorithms implemented relied on the Kinect sensor for maing and rotary encoder for localisation of the robot in the map. The SLAM algorithm implemented resulted in a mean error metric of 4.07%. The modified Q-learning algorithm implemented in this paper allowed the mobile robot to avoid dynamic obstacles by re-planning the path to find another optimal path different from the previously set global optimal path. From the investigation, it was shown that it is possible for a robot to navigate in a dynamic using the Reinforcement Learning technique.