3D RL-DWA: A Hybrid Reinforcement Learning and Dynamic Window Approach for Goal-Directed Local Navigation in Multi-DoF Robots

Chiara Castellani, Enrico Turco, Domenico Prattichizzo

In this paper, we present a novel hybrid approach that combines Reinforcement Learning (RL) with Dynamic Window Approach (DWA) for adaptive 3D local navigation of high-degree-of-fr…