Memory-based reinforcement learning algorithm for autonomous exploration in unknown environment

[摘要] In the near future, robots would be seen in almost every area of our life, in different shapes and with different objectives such as entertainment, surveillance, rescue, and navigation. In any shape and with any objective, it is necessary for them to be capable of successful exploration. They should be able to explore efficiently and be able to adapt themselves with changes in their environment. For successful navigation, it is necessary to recognize the difference between similar places of an environment. In order to achieve this goal without increasing the capability of sensors, having a memory is crucial. In this article, an algorithm for autonomous exploration and obstacle avoidance in an unknown environment is proposed. In order to make our self-learner algorithm, a memory-based reinforcement learning method using multilayer neural network is used with the aim of creating an agent having an efficient exploration and obstacle avoidance policy. Furthermore, this agent can automatically adapt itself to the changes of its environment. Finally, in order to test the capability of our algorithm, we have implemented it in a robot similar to a real model, simulated in the robust physics engine simulator of Gazebo.

[学科分类] 自动化工程

[关键词] Reinforcement learning;autonomous exploration;adaptive agent;depth map;artificial neural network;sensor fusion;memory-based;obstacle avoidance