Deep reinforcement learning based mobile robot navigation: A review

Kai Zhu, Tao Zhang
2021 Tsinghua Science and Technology  
Navigation is a fundamental problem of mobile robots, for which Deep Reinforcement Learning (DRL) has received significant attention because of its strong representation and experience learning abilities. There is a growing trend of applying DRL to mobile robot navigation. In this paper, we review DRL methods and DRL-based navigation frameworks. Then we systematically compare and analyze the relationship and differences between four typical application scenarios: local obstacle avoidance,
more » ... navigation, multi-robot navigation, and social navigation. Next, we describe the development of DRL-based navigation. Last, we discuss the challenges and some possible solutions regarding DRL-based navigation.
doi:10.26599/tst.2021.9010012 fatcat:7rrkw43mqffdjnmgvxkxjwrhkm