Academic Journal
D*-KDDPG: An Improved DDPG Path-Planning Algorithm Integrating Kinematic Analysis and the D* Algorithm
| العنوان: | D*-KDDPG: An Improved DDPG Path-Planning Algorithm Integrating Kinematic Analysis and the D* Algorithm |
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| المؤلفون: | Chunyang Liu, Weitao Liu, Dingfa Zhang, Xin Sui, Yan Huang, Xiqiang Ma, Xiaokang Yang, Xiao Wang |
| المصدر: | Applied Sciences, Vol 14, Iss 17, p 7555 (2024) |
| بيانات النشر: | MDPI AG, 2024. |
| سنة النشر: | 2024 |
| المجموعة: | LCC:Technology LCC:Engineering (General). Civil engineering (General) LCC:Biology (General) LCC:Physics LCC:Chemistry |
| مصطلحات موضوعية: | path planning, optimization DDPG, kinematic analysis, D* algorithm, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999 |
| الوصف: | To address the limitations of the Deep Deterministic Policy Gradient (DDPG) in robot path planning, we propose an improved DDPG method that integrates kinematic analysis and D* algorithm, termed D*-KDDPG. Firstly, the current work promotes the reward function of DDPG to account for the robot’s kinematic characteristics and environment perception ability. Secondly, informed by the global path information provided by the D* algorithm, DDPG successfully avoids getting trapped in local optima within complex environments. Finally, a comprehensive set of simulation experiments is carried out to investigate the effectiveness of D*-KDDPG within various environments. Simulation results indicate that D*-KDDPG completes strategy learning within only 26.7% of the training steps required by the original DDPG, retrieving enhanced navigation performance and promoting safety. D*-KDDPG outperforms D*-DWA with better obstacle avoidance performance in dynamic environments. Despite a 1.8% longer path, D*-KDDPG reduces navigation time by 16.2%, increases safety distance by 72.1%, and produces smoother paths. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2076-3417 |
| Relation: | https://www.mdpi.com/2076-3417/14/17/7555; https://doaj.org/toc/2076-3417 |
| DOI: | 10.3390/app14177555 |
| URL الوصول: | https://doaj.org/article/71bb53fe005d40f38ba396dec6465f26 |
| رقم الانضمام: | edsdoj.71bb53fe005d40f38ba396dec6465f26 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 20763417 |
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| DOI: | 10.3390/app14177555 |