Deep Reinforcement Learning-based ROS-Controlled RC Car for Autonomous Path Exploration in the Unknown Environment

Abstract

Nowadays, Deep reinforcement learning has become the front runner to solve problems in the field of robot navigation and avoidance. This paper presents a LiDAR-equipped RC car trained in the GAZEBO environment using the deep reinforcement learning method. This paper uses reshaped LiDAR data as the data input of the neural architecture of the training network. This paper also presents a unique way to convert the LiDAR data into a 2D grid map for the input of training neural architecture. It also presents the test result from the training network in different GAZEBO environment. It also shows the development of hardware and software systems of embedded RC car. The hardware system includes-Jetson AGX Xavier, teensyduino and Hokuyo LiDAR; the software system includes-ROS and Arduino C. Finally, this paper presents the test result in the real world using the model generated from training simulation.