• Corpus ID: 231839682

An advantage actor-critic algorithm for robotic motion planning in dense and dynamic scenarios

  title={An advantage actor-critic algorithm for robotic motion planning in dense and dynamic scenarios},
  author={Chengmin Zhou and Bingding Huang and Pasi Fr{\"a}nti},
Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging. Traditional algorithms like A* can plan collision-free trajectories in static environment, but their performance degrades and computational cost increases steeply in dense and dynamic scenarios. Optimal-value reinforcement learning algorithms (RL) can address… 
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