Obstacle Avoidance Path Planning and Simulation of Mobile Picking Robot Based on DPPO

Authors

Junqiang Lin, College of Engineering, South China Agricultural University, Guangzhou 510642 ChinaFollow
Hongjun Wang, College of Engineering, South China Agricultural University, Guangzhou 510642 ChinaFollow
Xiangjun Zou, College of Engineering, South China Agricultural University, Guangzhou 510642 China; Foshan-Zhongke Innovation Research Institute of Intelligent Agriculture and Robotics, Foshan 528200, China
Po Zhang, College of Engineering, South China Agricultural University, Guangzhou 510642 China
Chengen Li, College of Engineering, South China Agricultural University, Guangzhou 510642 China
Yipeng Zhou, Maritime Transport College, Ningbo University, Ningbo 315211, China
Shujie Yao, College of Engineering, South China Agricultural University, Guangzhou 510642 China

Abstract

Abstract: Aiming at the autonomous decision-making difficulty of mobile picking robots in random and changeable complicated path environment during field operations, an autonomous obstacle avoidance path planning method based on deep reinforcement learning is propose. By setting the state space and action space and using the artificial potential field method to design the reward function, an obstacle penalty coefficient setting method based on collision cone collision avoidance detection is proposed to improve the autonomous collision avoidance ability. A virtual simulation system is constructed, in which the learning and training of the mobile picking robot is carried out and verified by experiments through the distributed proximal policy optimization(DPPO). Simulation results show that the system can quickly and stably control the virtual mobile picking robot to autonomously avoid obstacles and obtain a better operating path, which can provide theoretical and technical support for the autonomous navigation of picking robot.

Recommended Citation

Lin, Junqiang; Wang, Hongjun; Zou, Xiangjun; Zhang, Po; Li, Chengen; Zhou, Yipeng; and Yao, Shujie (2023) "Obstacle Avoidance Path Planning and Simulation of Mobile Picking Robot Based on DPPO," Journal of System Simulation: Vol. 35: Iss. 8, Article 6.
DOI: 10.16182/j.issn1004731x.joss.22-0487
Available at: https://dc-china-simulation.researchcommons.org/journal/vol35/iss8/6

First Page

1692

Last Page

1704

CLC

TP242；TP18

Recommended Citation

Lin Junqiang, Wang Hongjun, Zou Xiangjun, et al. Obstacle Avoidance Path Planning and Simulation of Mobile Picking Robot Based on DPPO[J]. Journal of System Simulation, 2023, 35(8): 1692-1704.

Corresponding Author

Wang Hongjun

DOI

10.16182/j.issn1004731x.joss.22-0487