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PARÁK, R. KŮDELA, J. MATOUŠEK, R. JUŘÍČEK, M.
Original Title
Deep-Reinforcement-Learning-Based Motion Planning for a Wide Range of Robotic Structures
Type
journal article in Web of Science
Language
English
Original Abstract
The use of robot manipulators in engineering applications and scientific research has significantly increased in recent years. This can be attributed to the rise of technologies such as autonomous robotics and physics-based simulation, along with the utilization of artificial intelligence techniques. The use of these technologies may be limited due to a focus on a specific type of robotic manipulator and a particular solved task, which can hinder modularity and reproducibility in future expansions. This paper presents a method for planning motion across a wide range of robotic structures using deep reinforcement learning (DRL) algorithms to solve the problem of reaching a static or random target within a pre-defined configuration space. The paper addresses the challenge of motion planning in environments under a variety of conditions, including environments with and without the presence of collision objects. It highlights the versatility and potential for future expansion through the integration of OpenAI Gym and the PyBullet physics-based simulator.
Keywords
deep reinforcement learning; motion planning; collision avoidance; physics-based simulation; industrial robotics
Authors
PARÁK, R.; KŮDELA, J.; MATOUŠEK, R.; JUŘÍČEK, M.
Released
5. 6. 2024
Publisher
MDPI
Location
BASEL
ISBN
2079-3197
Periodical
Computation
Year of study
12
Number
6
State
Swiss Confederation
Pages from
116
Pages to
132
Pages count
17
URL
https://www.mdpi.com/2079-3197/12/6/116
Full text in the Digital Library
http://hdl.handle.net/11012/249511
BibTex
@article{BUT189243, author="Roman {Parák} and Jakub {Kůdela} and Radomil {Matoušek} and Martin {Juříček}", title="Deep-Reinforcement-Learning-Based Motion Planning for a Wide Range of Robotic Structures", journal="Computation", year="2024", volume="12", number="6", pages="17", doi="10.3390/computation12060116", issn="2079-3197", url="https://www.mdpi.com/2079-3197/12/6/116" }