MeSA-DRL: 混雑環境における社会的配慮型ロボットナビゲーションのための記憶強化型深層強化学習

原文アブストラクト

Autonomous navigation capabilities play a critical role in service robots operating in environments where human interactions are pivotal, due to the dynamic and unpredictable nature of these environments. However, the variability in human behavior presents a substantial challenge for robots in predicting and anticipating movements, particularly in crowded scenarios. To address this issue, a memory-enabled deep reinforcement learning framework is proposed for autonomous robot navigation in diverse pedestrian scenarios. The proposed framework leverages long-term memory to retain essential information about the surroundings and model sequential dependencies effectively. The importance of human-robot interactions is also encoded to assign higher attention to these interactions. A global planning mechanism is incorporated into the memory-enabled architecture. Additionally, a multi-term reward system is designed to prioritize and encourage long-sighted robot behaviors by incorporating dynamic warning zones. Simultaneously, it promotes smooth trajectories and minimizes the time taken to reach the robot's desired goal. Extensive simulation experiments show that the suggested approach outperforms representative state-of-the-art methods, showcasing its ability to a navigation efficiency and safety in real-world scenarios.