MADDPG Algorithm for Coordinated Welding of Multiple Robots
Weibin Chen, Lei Hua, Leixin Xu, Benshun Zhang, Mengmeng Li, Tao Ma, Yang‐Yang Chen · 2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE) · 2021
This paper deals with the coordinated welding problem of multi-robot systems by applying a deep reinforcement learning algorithm which is called multi-agent deep deterministic policy gradient (MADDPG). It is assumed that the states and actions of robots are continuous and each robot can only get local information of its neighbors. A novel reward composed of trajectory optimization, coordinated welding and collision avoidance is designed, which yield multi-robot systems to arrive the welding targets quickly, achieve the simultaneous welding for a weld line and avoid collision among robots. Simulation results are provided to demonstrate the effectiveness of the proposed control algorithm.