Title:
MOBILE ROBOT VISUAL NAVIGATION METHOD AND APPARATUS BASED ON DEEP REINFORCEMENT LEARNING
Document Type and Number:
WIPO Patent Application WO/2023/142780
Kind Code:
A1
Abstract:
A mobile robot visual navigation method and apparatus based on deep reinforcement learning, a terminal device, and a computer readable medium, relating to the field of machine vision navigation. According to the method, on the basis of a deep reinforcement learning method, by using an image, a depth image, and a target position as input, navigation can be performed in a large space where a plurality of scenarios are mixed, and the navigation capability of a mobile robot visual navigation technology based on deep reinforcement learning is improved; in addition, according to the method, a reward function related to the speed of a mobile robot, and a distance between the mobile robot and a target is designed, so that the training of a deep reinforcement learning model can be rapidly converged; and according to the method, the problem of sparse rewards is solved, a model convergence speed is increased, and the navigation performance in a complex large scenario is improved.
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Inventors:
ZHANG YI (CN)
FENG WEI (CN)
WANG WEIJUN (CN)
ZHU ZIHAN (CN)
FENG WEI (CN)
WANG WEIJUN (CN)
ZHU ZIHAN (CN)
Application Number:
PCT/CN2022/140079
Publication Date:
August 03, 2023
Filing Date:
December 19, 2022
Export Citation:
Assignee:
SHENZHEN INST OF ADV TECH CAS (CN)
International Classes:
G06F30/27; G01C21/20; G06N3/08; G06V10/40; G06V10/82
Foreign References:
| CN114526738A | 2022-05-24 | |||
| CN113392584A | 2021-09-14 | |||
| CN111123738A | 2020-05-08 | |||
| CN113920484A | 2022-01-11 | |||
| CN109682392A | 2019-04-26 | |||
| CN111141300A | 2020-05-12 | |||
| CN112767373A | 2021-05-07 | |||
| US20210302585A1 | 2021-09-30 |
Other References:
KE WANG, LI BU XIANGJIN, ZHAO RUIFENG: "Path planning for robots based on deep reinforcement learning by depth constraint", JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY(NATURAL SCIENCE EDITION, vol. 46, no. 12, 20 December 2018 (2018-12-20), pages 77 - 82, XP093082731, DOI: 10.13245/j.hust.181214
XIAO LU, ZHU YIWEI; ANG MUHUA, ZHOU XUANYU, WANG YAONAN: "Reinforcement Learning Based End-to-End Autonomous Driving Decision-Making Method by Combining Image and Monocular Depth Features", GEOMATICS AND INFORMATION SCIENCE OF WUHAN UNIVERSITY, vol. 46, no. 12, 15 December 2021 (2021-12-15), pages 1862 - 1871, XP093082732, DOI: 10.13203/j.whugis20210409
JIE CHEN, CHENG SHENG，SHI LIN: "Mobile robot navigation control based on deep reinforcement learning ", ELECTRONIC DESIGN ENGINEERING, vol. 27, no. 15, 5 August 2019 (2019-08-05), pages 61 - 65, XP093082733, DOI: 10.14022/j.cnki.dzsjgc.2019.15.013
XIAO LU, ZHU YIWEI; ANG MUHUA, ZHOU XUANYU, WANG YAONAN: "Reinforcement Learning Based End-to-End Autonomous Driving Decision-Making Method by Combining Image and Monocular Depth Features", GEOMATICS AND INFORMATION SCIENCE OF WUHAN UNIVERSITY, vol. 46, no. 12, 15 December 2021 (2021-12-15), pages 1862 - 1871, XP093082732, DOI: 10.13203/j.whugis20210409
JIE CHEN, CHENG SHENG，SHI LIN: "Mobile robot navigation control based on deep reinforcement learning ", ELECTRONIC DESIGN ENGINEERING, vol. 27, no. 15, 5 August 2019 (2019-08-05), pages 61 - 65, XP093082733, DOI: 10.14022/j.cnki.dzsjgc.2019.15.013
Attorney, Agent or Firm:
BEIJING ZHONG XUN TONG DA INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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