SARL*: 基于深度强化学习的移动机器人室内导航算法及其ROS实现

SARL*: 基于深度强化学习的移动机器人室内导航算法及其ROS实现

ROBIO 2019 会议论文： SARL*: Deep Reinforcement Learning based Human-Aware Navigation for Mobile Robot in Indoor Environments
This mobile robot navigation framework is implemented on a Turtlebot2 robot platform with lidar sensors (Hokuyo or RPlidar), integrating SLAM, path planning, pedestrian detection and deep reinforcement learning algorithms.
Video: Youtube or bilibili.
Code: github.

Introduction

We present an advanced version of the Socially Attentive Reinforcement Learning (SARL) algorithm, namely SARL*, to achieve human-aware navigation in indoor environ