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Probability Dueling DQN active visual SLAM for autonomous navigation in indoor environment

Shuhuan Wen (Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, China)
Xiaohan Lv (Yanshan University, Qinhuangdao, China)
Hak Keung Lam (Engineering, King’s College London, London, UK)
Shaokang Fan (Yanshan University, Qinhuangdao, China)
Xiao Yuan (Yanshan University, Qinhuangdao, China)
Ming Chen (King’s College London, London, UK)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 February 2021

Issue publication date: 3 August 2021

229

Abstract

Purpose

This paper aims to use the Monodepth method to improve the prediction speed of identifying the obstacles and proposes a Probability Dueling DQN algorithm to optimize the path of the agent, which can reach the destination more quickly than the Dueling DQN algorithm. Then the path planning algorithm based on Probability Dueling DQN is combined with FastSLAM to accomplish the autonomous navigation and map the environment.

Design/methodology/approach

This paper proposes an active simultaneous localization and mapping (SLAM) framework for autonomous navigation under an indoor environment with static and dynamic obstacles. It integrates a path planning algorithm with visual SLAM to decrease navigation uncertainty and build an environment map.

Findings

The result shows that the proposed method offers good performance over existing Dueling DQN for navigation uncertainty under the indoor environment with different numbers and shapes of the static and dynamic obstacles in the real world field.

Originality/value

This paper proposes a novel active SLAM framework composed of Probability Dueling DQN that is the improved path planning algorithm based on Dueling DQN and FastSLAM. This framework is used with the Monodepth depth image prediction method with faster prediction speed to realize autonomous navigation in the indoor environment with different numbers and shapes of the static and dynamic obstacles.

Keywords

Citation

Wen, S., Lv, X., Lam, H.K., Fan, S., Yuan, X. and Chen, M. (2021), "Probability Dueling DQN active visual SLAM for autonomous navigation in indoor environment", Industrial Robot, Vol. 48 No. 3, pp. 359-365. https://doi.org/10.1108/IR-08-2020-0160

Publisher

:

Emerald Publishing Limited

Copyright © 2020, Emerald Publishing Limited

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