DWA-RL: Dynamically Feasible Deep Reinforcement Learning Policy for Robot Navigation among Mobile Obstacles
Utsav Patel Nithish K Sanjeev Kumar Adarsh Jagan Sathyamoorthy Dinesh Manocha Utsav Patel Nithish K Sanjeev Kumar Adarsh Jagan Sathyamoorthy Dinesh Manocha
We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window Approach (DWA) in terms of satisfying the robot’s dynamics constraints with state-of-the-art DRL-based navigation methods that can handle moving obstacles and pedestri...