期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2020
卷号：17
期号：2
页码：1-14
DOI：10.1177/1729881420911491
出版社：SAGE Publications
摘要：This article introduces a continuous reinforcement learning framework to enable online adaptation of multi-objective optimization functions for guiding a mobile robot to move in changing dynamic environments. The robot with this framework can continuously learn from multiple or changing environments where it encounters different numbers of obstacles moving in unknown ways at different times. Using both planned trajectories from a real-time motion planner and already executed trajectories as feedback observations, our reinforcement learning agent enables the robot to adapt motion behaviors to environmental changes. The agent contains a Q network connected to a long short-term memory network. The proposed framework is tested in both simulations and real robot experiments over various, dynamically varied task environments. The results show the efficacy of online continuous reinforcement learning for quick adaption to different, unknown, and dynamic environments..
