Control Multi-Directional Mobile Robot Based on DDPG Intelligent Algorithm Application

International Journal of Electronics and Communication Engineering

© 2021 by SSRG - IJECE Journal

Volume 8 Issue 1

Year of Publication : 2021

Authors : Chau Thanh Phuong

10.14445/23488549/IJECE-V8I1P104

How to Cite?

Chau Thanh Phuong, "Control Multi-Directional Mobile Robot Based on DDPG Intelligent Algorithm Application," SSRG International Journal of Electronics and Communication Engineering, vol. 8,  no. 1, pp. 18-23, 2021. Crossref, https://doi.org/10.14445/23488549/IJECE-V8I1P104

Abstract:

The article, the implementation of the Deep Deterministic Policy Gradient algorithm on the Gazebo model and the reality of a multi-directional mobile robot, has been studied and applied. The empirical studies' goal is to make the multi-directional mobile robot learn the best possible action to travel in real-world environments when facing obstacles. When the robot moves in an environment with obstacles, the robot will automatically control to avoid these obstacles. Then, the more time it can remain within a specific limit, the more the reward is accumulated, and therefore the better results will be achieved. The author has performed various tests with many metamorphic parameters and proved that the DDPG algorithm is more efficient than algorithms like Q-learning, Machine learning, deep Q-network, etc. The research results will be the basis for designing and establishing control algorithms for present and future mobile multi-directional robots and industrial robots for application in programming engineering and home automation control industrial production machines. 

Keywords:

Multi-directional mobile robots, artificial intelligence, Obstacle robots, DDPG algorithm, autonomous navigation, reinforcement learning.

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