Using Deep Reinforcement Learning for Navigation in Simulated Hallways
- Resource Type
- Conference
- Authors
- Leao, Goncalo; Almeida, Filipe; Trigo, Emanuel; Ferreira, Henrique; Sousa, Armando; Reis, Luis Paulo
- Source
- 2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Autonomous Robot Systems and Competitions (ICARSC), 2023 IEEE International Conference on. :207-213 Apr, 2023
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Training
Deep learning
Navigation
Databases
Reinforcement learning
Task analysis
Testing
Deep Q-Network
Intelligent Robotics
Reinforcement Learning
Simulation
- Language
- ISSN
- 2573-9387
Reinforcement Learning (RL) is a well-suited paradigm to train robots since it does not require any previous information or database to train an agent. This paper explores using Deep Reinforcement Learning (DRL) to train a robot to navigate in maps containing different sorts of obstacles and which emulate hallways. Training and testing were performed using the Flatland 2D simulator and a Deep Q-Network (DQN) provided by OpenAI gym. Different sets of maps were used for training and testing. The experiments illustrate how well the robot is able to navigate in maps distinct from the ones used for training by learning new behaviours (namely following walls) and highlight the key challenges when solving this task using DRL, including the appropriate definition of the state space and reward function, as well as of the stopping criteria during training.