Reinforcement Learning-Based Optimal Multiple Waypoint Navigation
Christos Vlachos,Panagiotis Rousseas,Charalampos P. Bechlioulis,Kostas J. Kyriakopoulos,Christos Vlachos,Panagiotis Rousseas,Charalampos P. Bechlioulis,Kostas J. Kyriakopoulos
In this paper, a novel method based on Artificial Potential Field (APF) theory is presented, for optimal motion planning in fully-known, static workspaces, for multiple final goal configurations. Optimization is achieved through a Reinforcement Learning (RL) framework. More specifically, the parameters of the underlying potential field are adjusted through a policy gradient algorithm in order to m...
