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Adaptive Robot Navigation Using Randomized Goal Selection with Twin Delayed Deep Deterministic Policy Gradient
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AI
DOI：10.3390/robotics14040043.png)
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Abstract
En 中文
The primary challenge in robotic navigation lies in enabling robots to adapt effectively to new, unseen environments. Addressing this gap, this paper enhances the Twin Delayed Deep Deterministic Policy Gradient (TD3) model's adaptability by introducing randomized start and goal points. This approach aims to overcome the limitations of fixed goal points used in prior research, allowing the robot to navigate more effectively through unpredictable scenarios. This proposed extension was evaluated in unseen environments to validate the enhanced adaptability and performance of the TD3 model. The experimental results highlight improved flexibility and robustness in the robot's navigation capabilities, demonstrating the ability of the model to generalize effectively to unseen environments. Additionally, this paper provides a concise overview of TD3, focusing on its core mechanisms and key components to clarify its implementation.
Keywords:
reinforcement learning
TD3
SAC
jackal robot
robust navigation
transferability