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cs.RO2024
Hybrid Classical/RL Local Planner for Ground Robot Navigation
Vishnu D. Sharma, Jeongran Lee, Matthew Andrews +1
Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how…
cs.RO2023
SACPlanner: Real-World Collision Avoidance with a Soft Actor Critic Local Planner and Polar State Representations
Khaled Nakhleh, Minahil Raza, Mack Tang +6
We study the training performance of ROS local planners based on Reinforcement Learning (RL), and the trajectories they produce on real-world robots. We show that recent enhancemen…