Relational Navigation Learning in Continuous Action Space among Crowds
Xueyou Zhang Wei Xi Xian Guo Yongchun Fang Bin Wang Wulong Liu Jianye Hao Xueyou Zhang Wei Xi Xian Guo Yongchun Fang Bin Wang Wulong Liu Jianye Hao
In this paper, a novel navigation learning method in continuous action space among crowds based on relational graph is proposed which can be directly deployed on differential-drive mobile robots without any change. More specifically, in order to increase generalization ability in crowd sizes, Graph Convolutional Network (GCN) is at first adopted to extract the relationships between robot and pedes...