A study on the optimal route design considering time of mobile robot using recurrent neural network and reinforcement learning

2018 ◽  
Vol 32 (10) ◽  
pp. 4933-4939 ◽  
Author(s):  
Min Hyuk Woo ◽  
Soo-Hong Lee ◽  
Hye Min Cha
2008 ◽  
Vol 71 (16-18) ◽  
pp. 3379-3386 ◽  
Author(s):  
Daichi Kimura ◽  
Yoshinori Hayakawa

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092167
Author(s):  
Hao Quan ◽  
Yansheng Li ◽  
Yi Zhang

At present, the application of mobile robots is more and more extensive, and the movement of mobile robots cannot be separated from effective navigation, especially path exploration. Aiming at navigation problems, this article proposes a method based on deep reinforcement learning and recurrent neural network, which combines double net and recurrent neural network modules with reinforcement learning ideas. At the same time, this article designed the corresponding parameter function to improve the performance of the model. In order to test the effectiveness of this method, based on the grid map model, this paper trains in a two-dimensional simulation environment, a three-dimensional TurtleBot simulation environment, and a physical robot environment, and obtains relevant data for peer-to-peer analysis. The experimental results show that the proposed algorithm has a good improvement in path finding efficiency and path length.


2021 ◽  
Author(s):  
Subrata Bhowmik

Abstract Optimal route selection for the subsea pipeline is a critical task for the pipeline design process, and the route selected can significantly affect the overall project cost. Therefore, it is necessary to design the routes to be economical and safe. On-bottom stability (OBS) and fixed obstacles like existing crossings and free spans are the main factors that affect the route selection. This article proposes a novel hybrid optimization method based on a typical Machine Learning algorithm for designing an optimal pipeline route. The proposed optimal route design is compared with one of the popular multi-objective optimization method named Genetic Algorithm (GA). The proposed pipeline route selection method uses a Reinforcement Learning (RL) algorithm, a particular type of machine learning method to train a pipeline system that would optimize the route selection of subsea pipelines. The route optimization tool evaluates each possible route by incorporating Onbottom stability criteria based on DNVGL-ST-109 standard and other constraints such as the minimum pipeline route length, static obstacles, pipeline crossings, and free-span section length. The cost function in the optimization method simultaneously handles the minimization of length and cost of mitigating procedures. Genetic Algorithm, a well established optimization method, has been used as a reference to compare the optimal route with the result from the proposed Reinforcement Learning based optimization method. Three different case studies are performed for finding the optimal route selection using the Reinforcement Learning (RL) approach considering the OBS criteria into its cost function and compared with the Genetic Algorithm (GA). The RL method saves upto 20% pipeline length for a complex problem with 15 crossings and 31 free spans. The RL optimization method provides the optimal routes, considering different aspects of the design and the costs associated with the various factors to stabilize a pipeline (mattress, trenching, burying, concrete coating, or even employing a more massive pipe with additional steel wall thickness). OBS criteria significantly influence the best route, indicating that the tool can reduce the pipeline's design time and minimize installation and operational costs of the pipeline. Conventionally the pipeline route optimization is performed by a manual process where the minimum roule length and static obstacles are considered to find an optimum route. The engineering is then performed to fulfill the criteria of this route, and this approach may not lead to an optimized engineering cost. The proposed Reinforced Learning method for route optimization is a mixed type, faster, and cost-efficient approach. It significantly minimizes the pipeline's installation and operational costs up to 20% of the conventional route selection process.


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