Parallel Distributional Deep Reinforcement Learning for Mapless Navigation of Terrestrial Mobile Robots
Victor Augusto Kich, Alisson Henrique Kolling, Costa de Jesus, Gabriel Vinícius Heisler, Hiago Jacobs, Jair Augusto Bottega, André Kelbouscas, Akihisa Ohya, Ricardo Bedin Grando, Paulo Drews, Daniel Fernando Tello Gamarra · 2024
This paper introduces novel deep reinforcement learning (Deep-RL) techniques using parallel distributional actor-critic networks for navigating terrestrial mobile robots. Our approaches use laser range findings, relative distance, and angle to the target to guide the robot. We trained agents in the Gazebo simulator and deployed them in real scenarios. Results show that parallel distributional Deep-RL algorithms enhance decision-making and outperform non-distributional and behavior-based approaches in navigation and spatial generalization.