ランダムネットワーク蒸留を用いたAGV経路計画のための深層強化学習
Random Network Distillation Based Deep Reinforcement Learning for AGV Path Planning
報酬が乏しい環境でのAGV経路計画に対し、ランダムネットワーク蒸留で探索を強化する深層強化学習手法を提案し、連続行動・連続位置のシミュレーション環境で有効性を示した。
著者: Huilin Yin, Shengkai Su, Yinjia Lin, Pengju Zhen, Karin Festl, Daniel Watzenig
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
With the flourishing development of intelligent warehousing systems, the technology of Automated Guided Vehicle (AGV) has experienced rapid growth. Within intelligent warehousing environments, AGV is required to safely and rapidly plan an optimal path in complex and dynamic environments. Most research has studied deep reinforcement learning to address this challenge. However, in the environments with sparse extrinsic rewards, these algorithms often converge slowly, learn inefficiently or fail to reach the target. Random Network Distillation (RND), as an exploration enhancement, can effectively improve the performance of proximal policy optimization, especially enhancing the additional intrinsic rewards of the AGV agent which is in sparse reward environments. Moreover, most of the current research continues to use 2D grid mazes as experimental environments. These environments have insufficient complexity and limited action sets. To solve this limitation, we present simulation environments of AGV path planning with continuous actions and positions for AGVs, so that it can be close to realistic physical scenarios. Based on our experiments and comprehensive analysis of the proposed method, the results demonstrate that our proposed method enables AGV to more rapidly complete path planning tasks with continuous actions in our environments. A video of part of our experiments can be found at https://youtu.be/lwrY9YesGmw.
