Optimal Robot Motion Planning in Constrained Workspaces Using Reinforcement Learning
Panagiotis Rousseas,Charalampos P. Bechlioulis,Kostas J. Kyriakopoulos,Panagiotis Rousseas,Charalampos P. Bechlioulis,Kostas J. Kyriakopoulos
In this work, a novel solution to the optimal motion planning problem is proposed, through a continuous, deterministic and provably correct approach, with guaranteed safety and which is based on a parametrized Artificial Potential Field (APF). In particular, Reinforcement Learning (RL) is applied to adjust appropriately the parameters of the underlying potential field towards minimizing the Hamilt...
