Reinforcement Learning for Robot Navigation with Adaptive Forward Simulation Time (AFST) in a Semi-Markov Model
Yu'an Chen,Ruosong Ye,Ziyang Tao,Hongjian Liu,Guangda Chen,Jie Peng,Jun Ma,Yu Zhang,Jianmin Ji,Yanyong Zhang,Yu'an Chen,Ruosong Ye,Ziyang Tao,Hongjian Liu,Guangda Chen,Jie Peng,Jun Ma,Yu Zhang,Jianmin Ji,Yanyong Zhang
Deep reinforcement learning (DRL) algorithms have proven effective in robot navigation, especially in unknown environments, by directly mapping perception inputs into robot control commands. However, most existing methods ignore the local minimum problem in navigation and thereby cannot handle complex unknown environments. In this paper, we propose the first DRL-based navigation method modeled by ...
