A Self-Adaptive Double Q-Backstepping Trajectory Tracking Control Approach Based on Reinforcement Learning for Mobile Robots

摘要

When a mobile robot inspects tasks with complex requirements indoors, the traditional backstepping method cannot guarantee the accuracy of the trajectory, leading to problems such as the instrument not being inside the image and focus failure when the robot grabs the image with high zoom. In order to solve this problem, this paper proposes an adaptive backstepping method based on double Q-learning for tracking and controlling the trajectory of mobile robots. We design the incremental model-free algorithm of Double-Q learning, which can quickly learn to rectify the trajectory tracking controller gain online. For the controller gain rectification problem in non-uniform state space exploration, we propose an incremental active learning exploration algorithm that incorporates memory playback as well as experience playback mechanisms to achieve online fast learning and controller gain rectification for agents. To verify the feasibility of the algorithm, we perform algorithm verification on different types of trajectories in Gazebo and physical platforms. The results show that the adaptive trajectory tracking control algorithm can be used to rectify the mobile robot trajectory tracking controller’s gain. Compared with the Backstepping-Fractional-Older PID controller and Fuzzy-Backstepping controller, Double Q-backstepping has better robustness, generalization, real-time, and stronger anti-disturbance capability.