Multi-Robot Path Planning Method Using Reinforcement Learning

一.Abstract&conclusion

传统路径规划算法的缺陷：

However, the conventional method does not actively cope with variable situations sinceeach robot has difficulty to recognize the moving robot around it as an obstacle or a cooperative robot

所以使用 CNN+DQN

CNN analyzes the exact situation using image information on its environment

the robot navigates based on the situation analyzed through Deep q learning

CNN提取特征信息，以A*算法作为补偿函数，进行DQN的学习，机器人在学习过程中Q值是共享的。