Abstract
In this paper, we propose a novel Deep Reinforcement Learning (DRL) algorithm which can navigate non-holonomic robots with continuous control in an unknown dynamic environment with moving obstacles. We call the approach MK-A3C (Memory and Knowledge-based Asynchronous Advantage Actor-Critic) for short. As its first component, MK-A3C builds a GRU-based memory neural network to enhance the robot's capability for temporal reasoning. Robots without it tend to suffer from a lack of rationality in face of incomplete and noisy estimations for complex environments. Additionally, robots with certain memory ability endowed by MK-A3C can avoid local minima traps by estimating the environmental model. Secondly, MK-A3C combines the domain knowledge-based reward function and the transfer learning-based training task architecture, which can solve the non-convergence policies problems caused by sparse reward. These improvements of MK-A3C can efficiently navigate robots in unknown dynamic environments, and satisfy kinetic constraints while handling moving objects. Simulation experiments show that compared with existing methods, MK-A3C can realize successful robotic navigation in unknown and challenging environments by outputting continuous acceleration commands.