2023
DOI: 10.14569/ijacsa.2023.0140842
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Research on the Local Path Planning for Mobile Robots based on PRO-Dueling Deep Q-Network (DQN) Algorithm

Yaoyu Zhang,
Caihong Li,
Guosheng Zhang
et al.

Abstract: This paper proposes a Pro-Dueling DQN algorithm to solve the problems of slow convergence speed and waste of effective experience of the traditional DQN (Deep Q-Network) algorithm for the local path planning of mobile robot. The new algorithm introduces a priority experience playback mechanism based on SumTree to avoid forgetting the learning effective experiences as the number of samples in the experience pool increases. A more detailed reward and punishment function is designed for the new algorithm to reduc… Show more

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