Journal of System Simulation
Abstract
Abstract: Aiming at the increased environmental uncertainties and more difficult modeling for robotic arm path planning in unstructured environments, an approach to dynamic path planning of robotic arms based on an improved PPO algorithm is proposed. In order to solve the problem that the input length of the state space is not fixed due to the change of number of obstacles in dynamic environment, an environmental state input processing method based on the LSTM network is proposed, and the network structure of PPO algorithm is also improved; a reward function is designed based on the artificial potential field method, and a collision detection model of robotic arms is established. Experimental results indicate that the improved PPO algorithm can adapt to the change of the number and position of obstacles in the scene with a faster convergence speed and stability than traditional PPO algorithms.
Recommended Citation
Wan, Yuhang; Zhu, Zilu; Zhong, Chunfu; Liu, Yongkui; Lin, Tingyu; and Zhang, Lin
(2025)
"Dynamic Path Planning for Robotic Arms Based on an Improved PPO Algorithm,"
Journal of System Simulation: Vol. 37:
Iss.
6, Article 11.
DOI: 10.16182/j.issn1004731x.joss.24-0122
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol37/iss6/11
First Page
1462
Last Page
1473
CLC
TP391.9
Recommended Citation
Wan Yuhang, Zhu Zilu, Zhong Chunfu, et al. Dynamic Path Planning for Robotic Arms Based on an Improved PPO Algorithm[J]. Journal of System Simulation, 2025, 37(6): 1462-1473.
DOI
10.16182/j.issn1004731x.joss.24-0122
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Artificial Intelligence and Robotics Commons, Computer Engineering Commons, Numerical Analysis and Scientific Computing Commons, Operations Research, Systems Engineering and Industrial Engineering Commons, Systems Science Commons