Deep Reinforcement Learning With a Stage Incentive Mechanism of Dense Reward for Robotic Trajectory Planning
针对随机工作环境下机器人臂的轨迹规划，提出了三种密集奖励函数，其中软阶段激励奖励函数能提高收敛速度、获得更高平均奖励和更低标准差。
To improve the efficiency of deep reinforcement learning (DRL)-based methods for robot manipulator trajectory planning in random working environments, we present three dense reward functions. These rewards differ from the traditional sparse reward. First, a posture reward function is proposed to speed up the learning process with a more reasonable trajectory by modeling the distance and direction constraints, which can reduce the blindness of exploration. Second, a stride reward function is proposed to improve the stability of the learning process by modeling the distance and movement distance of joint constraints. Finally, in order to further improve learning efficiency, we are inspired by the cognitive process of human behavior and propose a stage incentive mechanism, including a hard-stage incentive reward function and a soft-stage incentive reward function. Extensive experiments show that the soft-stage incentive reward function is able to improve the convergence rate, get higher mean reward and lower standard deviation after convergence.