A novel trajectory tracking algorithm based on soft actor-critic-ResNet model

Haohua Li; Jie Qi

doi:10.1117/12.3011759

1 December 2023 A novel trajectory tracking algorithm based on soft actor-critic-ResNet model

Haohua Li, Jie Qi

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 1294028 (2023) https://doi.org/10.1117/12.3011759
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

In order to effectively accomplish the control of robot in unknown environments, we propose a soft actor-critic- ResNet(SAC-ResNet) model based on multi-sensor information. First of all, comprehensively consider issues such as obstacle avoidance and robot walking efficiency, we design a state space based on various sensors and a continuous action space. Secondly, SAC combined with ResNet, multilayer perceptron(MLP) and multi-head-attention realize the organic integration of multi-sensor information, effectively solving the problems of low efficiency and environmental dependence caused by insufficient environmental information. The simulation results show that the SAC-ResNet model based on multi-sensor information can continuously control the robot to avoid unknown obstacles effectively in different environments, improving the accuracy, safety and robustness of local obstacle avoidance.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Haohua Li and Jie Qi "A novel trajectory tracking algorithm based on soft actor-critic-ResNet model", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 1294028 (1 December 2023); https://doi.org/10.1117/12.3011759

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