Using Deep Reinforcement Learning for Navigation in Simulated Hallways

• Type: Article in International Conference Proceedings Book
• Date: 2023

Authors

Leao, G (Author) Other; Almeida, F (Author) Other; Trigo, E (Author) Other; Ferreira, H (Author) Other; Armando Jorge Sousa (Author) FEUP; reis, lp (Author) FEUP

Conference proceedings International

Title: 2023 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS, ICARSC

Pages: 207-213

IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Tomar, PORTUGAL, APR 26-27, 2023

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 3 Citations

Other information

Authenticus ID: P-00Y-MGS

DOI: 10.1109/icarsc58346.2023.10129605

Abstract (EN): Reinforcement Learning (RL) is a well-suited paradigm to train robots since it does not require any previous information or database to train an agent. This paper explores using Deep Reinforcement Learning (DRL) to train a robot to navigate in maps containing different sorts of obstacles and which emulate hallways. Training and testing were performed using the Flatland 2D simulator and a Deep Q-Network (DQN) provided by OpenAI gym. Different sets of maps were used for training and testing. The experiments illustrate how well the robot is able to navigate in maps distinct from the ones used for training by learning new behaviours (namely following walls) and highlight the key challenges when solving this task using DRL, including the appropriate definition of the state space and reward function, as well as of the stopping criteria during training.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7