Application of Deep Reinforcement Learning for Tracking Control of 3WD Omnidirectional Mobile Robot

Abstract

Deep reinforcement learning, the fastest growing technique, to solve real-world complex problems by creatinga simple mathematical framework. It includes an agent, action, environment, and a reward. An agent will interactwith the environment, takes an optimal action aiming to maximize the total reward. This paper proposesthe compelling technique of deep deterministic policy gradient for solving the complex continuous actionspace of 3-wheeled omnidirectional mobile robots. Three-wheeled Omnidirectional mobile robots tracking isa difficult task because of the orientation of the wheels which makes it rotate around its own axis rather tofollow the trajectory. A deep deterministic policy gradient (DDPG) algorithm has been designed to train in environmentswith continuous action space to follow the trajectory by training the neural networks defined forthe policy and value function to maximize the reward function defined for the tracking of the trajectory. DDPGagent environment is created in the Reinforcement learning toolbox in MATLAB 2019 while for Actor and criticnetwork design deep neural network designer is used. Results are shown to illustrate the effectiveness of thetechnique with a convergence of error approximately to zero.