Paper:

# A Curiosity-Based Autonomous Navigation Algorithm for Maze Robot

## Xiaoping Zhang, Yihao Liu^{†}, Li Wang, Dunli Hu, and Lei Liu

School of Electrical and Control Engineering, North China University of Technology

No.5 Jinyuanzhuang Road, Shijingshan District, Beijing 100144, China

^{†}Corresponding author

The external reward plays an important role in the reinforcement learning process, and the quality of its design determines the final effect of the algorithm. However, in several real-world scenarios, rewards extrinsic to the agent are extremely sparse. This is particularly evident in mobile robot navigation. To solve this problem, this paper proposes a curiosity-based autonomous navigation algorithm that consists of a reinforcement learning framework and curiosity system. The curiosity system consists of three parts: prediction network, associative memory network, and curiosity rewards. The prediction network predicts the next state. An associative memory network was used to represent the world. Based on the associative memory network, an inference algorithm and distance calibration algorithm were designed. Curiosity rewards were combined with extrinsic rewards as complementary inputs to the Q-learning algorithm. The simulation results show that the algorithm helps the agent reduce repeated exploration of the environment during autonomous navigation. The algorithm also exhibits a better convergence effect.

*J. Adv. Comput. Intell. Intell. Inform.*, Vol.26, No.6, pp. 893-904, 2022.

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