Reinforcement Learning (RL) controllers have proved to effectively tackle the dual objectives of path following and collision avoidance. However, finding which RL algorithm setup optimally trades off these two tasks is not necessarily easy. This work proposes a methodology to explore this that leverages analyzing the performance and task-specific behavioral characteristics for a range of RL algorithms applied to path-following and collision-avoidance for underactuated surface vehicles in environments of increasing complexity. Compared to the introduced RL algorithms, the results show that the Proximal Policy Optimization (PPO) algorithm exhibits superior robustness to changes in the environment complexity, the reward function, and when generalized to environments with a considerable domain gap from the training environment. Whereas the proposed reward function significantly improves the competing algorithms ability to solve the training environment, an unexpected consequence of the dimensionality reduction in the sensor suite, combined with the domain gap, is identified as the source of their impaired generalization performance. ; publishedVersion


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Comparing Deep Reinforcement Learning Algorithms Ability to Safely Navigate Challenging Waters



    Erscheinungsdatum :

    01.01.2021


    Anmerkungen:

    cristin:1931036
    19 ; 8 ; Frontiers in Robotics and AI ; 738113



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    MLNav: Learning to Safely Navigate on Martian Terrains

    Daftry, Shreyansh / Abcouwer, Neil / Del Sesto, Tyler et al. | ArXiv | 2022

    Freier Zugriff


    Better Ways to Navigate on Deep Seafloors

    Parthiot, F. P. / Denis, J.-F. | British Library Online Contents | 1994


    Evolutionary Acquisition: Learning to Navigate the Spiral

    Tammany, B. / AHS International | British Library Conference Proceedings | 2008


    Young Pedestrians and their Ability to Move Safely in the Traffic

    Midtland, K. / Statens vag- och transportforskningsinstitut / Transportation Research Board; U.S. | British Library Conference Proceedings | 1996