APF-RL: Safe Mapless Navigation in Unknown Environments
Kemal Bektaş,H. Işıl Bozma,Kemal Bektaş,H. Işıl Bozma
This paper is focused on safe mapless navigation of mobile robots in unknown and possibly complex environments containing both internal and dynamic obstacles. We present a novel modular approach that combines the strengths of artificial potential functions (APF) with deep reinforcement learning. Differing from related work, the robot learns how to adjust the two input parameters of the APF control...
