基于DDPG-PID的机器人动态目标跟踪与避障控制研究  

Research on Robot Dynamic Target Tracking and Obstacle Avoidance Control Based on DDPG‑PID

作　　者：刘勇[1] 李祥[1] 蒋沛阳 孙博熙 吴喆 姜潇 钱森[1] LIU Yong;LI Xiang;JIANG Peiyang;SUN Boxi;WU Zhe;JIANG Xiao;QIAN Sen(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学机械工程学院,合肥230009

出　　处：《南京航空航天大学学报》2022年第1期41-50,共10页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(52175013);中央高校基本科研项目(JZ2020HGTB0034)。

摘　　要：针对机器人在动态复杂环境下的操作问题,研究机械臂跟踪运动目标及避障的运动控制方法。采用传统PID控制方法与DDPG强化学习算法相结合的方式,利用PID控制使得机械臂的工作平面快速接近目标物并与之重合,再使用DDPG算法让机械臂在平面内自主学习追踪目标物投影同时避开障碍物投影,最终在三维空间中实现跟踪与避障。该方法将机械臂作为一个智能体,智能体通过感知目标物和障碍物的距离偏差来自主学习避障跟踪策略。将本方法用于多自由度机械臂路径规划与避障任务中,对比单纯使用DDPG算法将机械臂作为智能体在空间中进行决策控制,仿真结果显示本文所提出的方法收敛效果和控制性能更好,机械臂能在训练后实现目标物的稳定跟踪和障碍物的躲避。Aiming at the operational problems of robots in dynamic and complex environments,the motion control method of manipulator tracking moving targets and avoiding obstacles is studied.The traditional PID control method is combined with DDPG algorithm.PID control is used to make the working plane of the manipulator approach the target quickly and coincide with it.Then DDPG algorithm is used to make the manipulator autonomously learn to track the projection of target and avoid the projection of obstacles in the plane,and finally achieve tracking and obstacle avoidance in the three‑dimensional space.This method takes the manipulator as an agent which perceives the distance deviation between the target and the obstacle to learn obstacle avoidance and tracking strategies automatically.This method is applied to the path planning and obstacle avoidance task of multi‑degree‑of‑freedom manipulator.Compared with DDPG algorithm,which only takes manipulator as agent to make decision control in space,the simulation results show that the proposed method has a better convergence effect and control performance,and the manipulator can stably track the target and avoid obstacles after training.

关 键 词：强化学习 PID控制 路径规划 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]