Obstacle Avoidance and Navigation Utilizing Reinforcement Learning with Reward Shaping

28 Mar 2020 • Daniel Zhang • Colleen P. Bailey

In this paper, we investigate the obstacle avoidance and navigation problem in the robotic control area. For solving such a problem, we propose revised Deep Deterministic Policy Gradient (DDPG) and Proximal Policy Optimization algorithms with an improved reward shaping technique... (read more)

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METHOD	TYPE
Experience Replay	Replay Memory
Entropy Regularization	Regularization
Dense Connections	Feedforward Networks
Weight Decay	Regularization
ReLU	Activation Functions
Adam	Stochastic Optimization
Convolution	Convolutions
Batch Normalization	Normalization
DDPG	Policy Gradient Methods
PPO	Policy Gradient Methods

METHOD

TYPE

Experience Replay