Real-time Trajectory Planning Algorithm Based on Collision Criticality and Deep Reinforcement Learning

Real-time collision avoidance in dynamic environments is a challenge in trajectory planning of mobile robots. Focusing on environments with variable number of obstacles,this paper proposes a real-time trajectory planning algorithm,Crit-LSTM-DRL,based on long short-term memory(LSTM) and deep reinforc...

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Bibliographic Details

Published in:	Jisuanji kexue
Main Author:	XU Linling, ZHOU Yuan, HUANG Hongyun, LIU Yang
Format:	Article
Language:	Chinese
Published:	Editorial office of Computer Science 2023-03-01
Subjects:	trajectory planning|collision avoidance|obstacle criticality|deep reinforcement learning
Online Access:	https://www.jsjkx.com/fileup/1002-137X/PDF/1002-137X-2023-50-3-323.pdf