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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2021, Vol. 3 Issue (4): 302-314    DOI: 10.1049/csy2.12020
    
A survey of learning-based robot motion planning
A survey of learning-based robot motion planning
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摘要： A fundamental task in robotics is to plan collision-free motions among a set of obstacles. Recently, learning-based motion-planning methods have shown significant advantages in solving different planning problems in high-dimensional spaces and complex environments. This article serves as a survey of various different learning-based methods that have been applied to robot motion-planning problems, including supervised, unsupervised learning, and reinforcement learning. These learning-based methods either rely on a human-crafted reward function for specific tasks or learn from successful planning experiences. The classical definition and learning-related definition of motion-planning problem are provided in this article. Different learning-based motion-planning algorithms are introduced, and the combination of classical motion-planning and learning techniques is discussed in detail.
Abstract: A fundamental task in robotics is to plan collision-free motions among a set of obstacles. Recently, learning-based motion-planning methods have shown significant advantages in solving different planning problems in high-dimensional spaces and complex environments. This article serves as a survey of various different learning-based methods that have been applied to robot motion-planning problems, including supervised, unsupervised learning, and reinforcement learning. These learning-based methods either rely on a human-crafted reward function for specific tasks or learn from successful planning experiences. The classical definition and learning-related definition of motion-planning problem are provided in this article. Different learning-based motion-planning algorithms are introduced, and the combination of classical motion-planning and learning techniques is discussed in detail.
出版日期: 2021-05-21
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作者相关文章　　
Jiankun Wang
Tianyi Zhang
Nachuan Ma
Zhaoting Li
Han Ma
Fei Meng
Max Q.-H. Meng

引用本文:

Jiankun Wang, Tianyi Zhang, Nachuan Ma, Zhaoting Li, Han Ma, Fei Meng, Max Q.-H. Meng. A survey of learning-based robot motion planning. IET Cyber-Systems and Robotics, 2021, 3(4): 302-314.

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https://www.zjujournals.com/iet-csr/CN/10.1049/csy2.12020    或    https://www.zjujournals.com/iet-csr/CN/Y2021/V3/I4/302

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