A Novel Robotic Path Planning Method in Grid Map Context Based on D* Lite Algorithm and Deep Learning

摘要

Mobile robot path planning has received more and more attention as an important technology in robotics. Based on the D* Lite algorithm, this paper constructs a robot path planning model in a grid map environment, and proposes a deep learning fusion algorithm for path planning under complex large maps. The D* Lite algorithm with excellent performance adopts the enhanced neural network algorithm with environment self-learning ability for local parts. The model introduces the gentle update method of the Q value in the D* Lite algorithm into the optimization target calculation, calculates the loss function and updates the network parameters, thereby solving the overestimation problem of deep reinforcement learning in the application of mobile robot path planning. In the simulation process, the idea of averaging is introduced into the e-greedy strategy, and the value function output by the previous generation parameter network is used to obtain the average result to determine the next action direction of the mobile robot. The experimental results show that in the simple environment and the complex environment, the planned path lengths in the environment are 44.21, 43.63 and 43.61[Formula: see text]m, respectively, reducing the number of collisions with obstacles during the training process of the mobile robot, and improving the superiority and effectiveness of the algorithm.