Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 37, 2020 No. 12
3650-3655

Robot path planning based on soft AC algorithm for multilayer attention mechanism

Han Jinlianga
Ren Haijingb
Wu Songweic
Jiang Xinxind
Liu Fengkaic
a. School of Mathematics, b. School of Environment & Spatial Informatics, c. School of Safety Engineering, d. School of Information & Control Engineering, China University of Mining & Technology, Xuzhou Jiangsu 221116, China
DOI: 10.19734/j.issn.1001-3695.2019.09.0529

Abstract

Aiming at the high dimensionality of the empirical learning sample and the low robustness of the strategy gradient model in the actor-critic algorithm, this paper constructed the attention mechanism network and acted as a proxy based on the information cooperation advantages of the multi-agent systems, introducing a multi-layer parallel attention mechanism. By adding the network model and the soft function to the actor-critic algorithm, this paper proposed a soft actor-critic algorithm based on multi-layer parallel attention mechanism to solve the problem of robot path planning, enhance the actors' strategy gradient robustness and reduce regression error of the critics, and achieved the fast convergence of robot path planning. The experimental results show that this method can effectively overcome the local optimization problem of robot path planning, and has the advantages of fast computation speed and stable convergence.

Foundation Support

国家自然科学基金资助项目(61501465)
国家大学生创新训练项目(201910290053Z)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.09.0529
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 12
Section: Algorithm Research & Explore
Pages: 3650-3655
Serial Number: 1001-3695(2020)12-026-3650-06

Publish History

[2020-12-05] Printed Article

Cite This Article

韩金亮, 任海菁, 吴淞玮, 等. 基于多层注意力机制—柔性AC算法的机器人路径规划 [J]. 计算机应用研究, 2020, 37 (12): 3650-3655. (Han Jinliang, Ren Haijing, Wu Songwei, et al. Robot path planning based on soft AC algorithm for multilayer attention mechanism [J]. Application Research of Computers, 2020, 37 (12): 3650-3655. )

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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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