Hybrid Bidirectional Rapidly Exploring Random Tree Path Planning Algorithm with Reinforcement Learning
Junkui Wang, Kaoru Hirota, Xiangdong Wu, Yaping Dai, and Zhiyang Jia
School of Automation, Beijing Institute of Technology
No.5 Zhongguancun South Street, Haidian District, Beijing 100081, China
The randomness of path generation and slow convergence to the optimal path are two major problems in the current rapidly exploring random tree (RRT) path planning algorithm. Herein, a novel reinforcement-learning-based hybrid bidirectional rapidly exploring random tree (H-BRRT) is presented to solve these problems. To model the random exploration process, a target gravitational strategy is introduced. Reinforcement learning is applied to the improved target gravitational strategy using two operations: random exploration and target gravitational exploration. The algorithm is controlled to switch operations adaptively according to the accumulated performance. It not only improves the search efficiency, but also shortens the generated path after the proposed strategy is applied to a bidirectional rapidly exploring random tree (BRRT). In addition, to solve the problem of the traditional RRT continuously falling into the local optimum, an improved exploration strategy with collision weight is applied to the BRRT. Experimental results implemented in a robot operating system indicate that the proposed H-BRRT significantly outperforms alternative approaches such as the RRT and BRRT. The proposed algorithm enhances the capability of identifying unknown spaces and avoiding local optima.
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