Autonomous Navigation by Mobile Robot with Sensor Fusion Based on Deep Reinforcement Learning

摘要

In the domain of mobile robot navigation, conventional path-planning algorithms typically rely on predefined rules and prior map information, which exhibit significant limitations when confronting unknown, intricate environments. With the rapid evolution of artificial intelligence technology, deep reinforcement learning (DRL) algorithms have demonstrated considerable effectiveness across various application scenarios. In this investigation, we introduce a self-exploration and navigation approach based on a deep reinforcement learning framework, aimed at resolving the navigation challenges of mobile robots in unfamiliar environments. Firstly, we fuse data from the robot's onboard lidar sensors and camera and integrate odometer readings with target coordinates to establish the instantaneous state of the decision environment. Subsequently, a deep neural network processes these composite inputs to generate motion control strategies, which are then integrated into the local planning component of the robot's navigation stack. Finally, we employ an innovative heuristic function capable of synthesizing map information and global objectives to select the optimal local navigation points, thereby guiding the robot progressively toward its global target point. In practical experiments, our methodology demonstrates superior performance compared to similar navigation methods in complex, unknown environments devoid of predefined map information.