Optimal robot motion planning in constrained workspaces using reinforcement learning

Panagiotis Rousseas; Charalampos P. Bechlioulis; Kostas J. Kyriakopoulos

doi:10.1109/IROS45743.2020.9341148

Optimal robot motion planning in constrained workspaces using reinforcement learning

Panagiotis Rousseas, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this work, a novel solution to the optimal motion planning problem is proposed, through a continuous, deterministic and provably correct approach, with guaranteed safety and which is based on a parametrized Artificial Potential Field (APF). In particular, Reinforcement Learning (RL) is applied to adjust appropriately the parameters of the underlying potential field towards minimizing the Hamilton-Jacobi-Bellman (HJB) error. The proposed method, outperforms consistently a Rapidly-exploring Random Trees (RRT*) method and consists a fertile advancement in the optimal motion planning problem.

Original language	English (US)
Title of host publication	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6917-6922
Number of pages	6
ISBN (Electronic)	9781728162126
DOIs	https://doi.org/10.1109/IROS45743.2020.9341148
State	Published - Oct 24 2020
Event	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States Duration: Oct 24 2020 → Jan 24 2021

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/Territory	United States
City	Las Vegas
Period	10/24/20 → 1/24/21

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS45743.2020.9341148

Cite this

Rousseas, P., Bechlioulis, C. P., & Kyriakopoulos, K. J. (2020). Optimal robot motion planning in constrained workspaces using reinforcement learning. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 (pp. 6917-6922). Article 9341148 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS45743.2020.9341148

Optimal robot motion planning in constrained workspaces using reinforcement learning. / Rousseas, Panagiotis; Bechlioulis, Charalampos P.; Kyriakopoulos, Kostas J.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 6917-6922 9341148 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rousseas, P, Bechlioulis, CP & Kyriakopoulos, KJ 2020, Optimal robot motion planning in constrained workspaces using reinforcement learning. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020., 9341148, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 6917-6922, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, United States, 10/24/20. https://doi.org/10.1109/IROS45743.2020.9341148

Rousseas P, Bechlioulis CP, Kyriakopoulos KJ. Optimal robot motion planning in constrained workspaces using reinforcement learning. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 6917-6922. 9341148. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS45743.2020.9341148

Rousseas, Panagiotis ; Bechlioulis, Charalampos P. ; Kyriakopoulos, Kostas J. / Optimal robot motion planning in constrained workspaces using reinforcement learning. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 6917-6922 (IEEE International Conference on Intelligent Robots and Systems).

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Optimal robot motion planning in constrained workspaces using reinforcement learning

Abstract

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