Journal of System Simulation ›› 2023, Vol. 35 ›› Issue (8): 1692-1704.doi: 10.16182/j.issn1004731x.joss.22-0487

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Obstacle Avoidance Path Planning and Simulation of Mobile Picking Robot Based on DPPO

Junqiang Lin1(), Hongjun Wang1(), Xiangjun Zou1,2, Po Zhang1, Chengen Li1, Yipeng Zhou3, Shujie Yao1   

  1. 1. College of Engineering, South China Agricultural University, Guangzhou 510642 China
    2. Foshan-Zhongke Innovation Research Institute of Intelligent Agriculture and Robotics, Foshan 528200, China
    3. Maritime Transport College, Ningbo University, Ningbo 315211, China
  • Received:2022-05-12 Revised:2022-07-11 Online:2023-08-25 Published:2023-08-15

Key words: deep reinforcement learning, proximal policy optimization, mobile picking robot, obstacle avoidance, path planning, artificial potential field, collision cone