Parallel Distributional Deep Reinforcement Learning for Mapless Navigation of Terrestrial Mobile Robots

Abstract

This paper introduces novel deep reinforcement learning (Deep-RL) techniques using parallel distributional actor-critic networks for navigating terrestrial mobile robots. Our approaches use laser range findings, relative distance, and angle to the target to guide the robot. We trained agents in the Gazebo simulator and deployed them in real scenarios. Results show that parallel distributional Deep-RL algorithms enhance decision-making and outperform non-distributional and behavior-based approaches in navigation and spatial generalization.

Paper accepted at the 24th International Conference on Control, Automation and Systems (ICCAS)