SACPlanner: Real-World Collision Avoidance with a Soft Actor Critic Local Planner and Polar State Representations.
Khaled NakhlehMinahil RazaMack TangMatthew AndrewsRinu BoneyIlija HadzicJeongran LeeAtefeh MohajeriKarina PalyutinaPublished in: CoRR (2023)
Keyphrases
- collision avoidance
- actor critic
- path planning
- path finding
- mobile robot
- dynamic environments
- reinforcement learning
- optimal control
- function approximation
- policy gradient
- heuristic search
- fuzzy neural network
- approximate dynamic programming
- data mining
- dynamic programming
- neuro fuzzy
- membership functions
- temporal difference
- initial state
- gradient method
- search algorithm
- decision making