Abstract
New research on robotics is the subject of a new report. According to news reporting from Kiryu, Japan, by NewsRx journalists, research stated, “Autonomous mobile robots have become integral to daily life, providing crucial services across diverse domains.” Our news journalists obtained a quote from the research from Gunma University: “This paper focuses on path following, a fundamental technology and critical element in achieving autonomous mobility. Existing methods predominantly address tracking through steering control, neglecting velocity control or relying on path-specific reference velocities, thereby constraining their generality. In this paper, we propose a novel approach that integrates the conventional pure pursuit algorithm with deep reinforcement learning for a nonholonomic mobile robot. Our methodology employs pure pursuit for steering control and utilizes the soft actor-critic algorithm to train a velocity control strategy within randomly generated path environments. Through simulation and experimental validation, our approach exhibits notable advancements in path convergence and adaptive velocity adjustments to accommodate paths with varying curvatures.”
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