The Method for Automatic Adjustment of AGV’s PID Based on Deep Reinforcement Learning

摘要

Abstract This paper proposes a method for automatic adjustment of PID(Proportion Integration Differentiation) based on deep reinforcement learning in order to solve the problem of smooth movement of AGV(Automated Guided Vehicle). First, based on reinforcement learning, the problem of AGV smooth operation is transformed into the solution of PID adjustment operation sequence. The action value model is constructed using the Deep Q-Learning Network(DQN) algorithm. Then, take the AGV adjustment PID as the research object. The goal is to achieve smooth movement of AGV. The specific design of AGV automatic PID adjustment method based on deep reinforcement learning is introduced. Finally, the simulation data is used to train the AGV action value network model. The method is validated in the ROS(Robot Operating System) simulation environment. Then compare with the actual environment. The results show that the automatic adjustment method of AGV’s PID based on deep reinforcement learning can adjust PID to the optimum without manual work. It can make AGV run smoothly. The feasibility and effectiveness of the method are illustrated and the problem of automatic PID determination in AGV movement control is solved.