Consensus-based deep reinforcement learning for mobile robot mapless navigation

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dc.contributor.authorLiu, Wenxing
dc.contributor.authorNiu, Hanlin
dc.contributor.authorCaliskanelli, Ipek
dc.contributor.authorXu, Zhengjia
dc.contributor.authorSkilton, Robert
dc.date.accessioned2024-06-24T15:00:12Z
dc.date.available2024-06-24T15:00:12Z
dc.date.issued2024-06-05
dc.description.abstractWhen using mobile robots to perform data collection about the surroundings, the performance might be dissatisfying since the environments could be unknown and challenging. This situation will pose challenges for mobile robot navigation and exploration. To tackle this issue, we propose a consensus-based deep reinforcement learning (DRL) algorithm for multiple robots to perform mapless navigation and exploration. The proposed algorithm leverages both consensus-based training and DRL, which reduces required training steps while maintaining the same training reward. Once trained with fixed obstacles, the proposed training model can demonstrate adaptability in handling real-world random static obstacles and sudden obstacles. The experimental video is available at: at: https://youtu.be/ym2yvbKg4fU.en_UK
dc.description.sponsorshipThis work is supported by UKAEA/EPSRC Fusion Grant 2022/2027 No. EP/W006839/1.en_UK
dc.identifier.citationLiu W, Niu H, Caliskanelli I, et al., (2024) Consensus-based deep reinforcement learning for mobile robot mapless navigation. In: 2024 IEEE International Conference on Industrial Technology (ICIT), 25-27 March 2024, Bristol, UKen_UK
dc.identifier.eisbn979-8-3503-4026-6
dc.identifier.eissn2643-2978
dc.identifier.isbn979-8-3503-4027-3
dc.identifier.issn2641-0184
dc.identifier.urihttps://doi.org/10.1109/ICIT58233.2024.10540762
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/22557
dc.language.isoen_UKen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectDeep reinforcement learningen_UK
dc.subjectconsensusen_UK
dc.subjectobstacle avoidanceen_UK
dc.subjectmulti-robot systemsen_UK
dc.titleConsensus-based deep reinforcement learning for mobile robot mapless navigationen_UK
dc.typeConference paperen_UK
dcterms.dateAccepted2024-01-15

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