# Enhanced Low-Dimensional Sensing Mapless Navigation of Terrestrial Mobile Robots Using Double Deep Reinforcement Learning Techniques

arXiv: https://arxiv.org/abs/2310.13809 · HTML: https://mlsanity.com/paper/2310.13809/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 15 references that are in the map.
- First posted on arXiv 20 Oct 2023.

## Builds on (most cited first, 8 of 8)

- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Playing Atari with Deep Reinforcement Learning](https://mlsanity.com/paper/1312.5602/) (2013)
- [Transformer-XL: Attentive Language Models Beyond a Fixed-Length Context](https://mlsanity.com/paper/1901.02860/) (2019)
- [Deep Reinforcement Learning with Double Q-learning](https://mlsanity.com/paper/1509.06461/) (2015)
- [CURL: Contrastive Unsupervised Representations for Reinforcement Learning](https://mlsanity.com/paper/2004.04136/) (2020)
- [Socially Aware Motion Planning with Deep Reinforcement Learning](https://mlsanity.com/paper/1703.08862/) (2017)
- [Virtual-to-real Deep Reinforcement Learning: Continuous Control of Mobile Robots for Mapless Navigation](https://mlsanity.com/paper/1703.00420/) (2017)
- [Towards Cognitive Exploration through Deep Reinforcement Learning for Mobile Robots](https://mlsanity.com/paper/1610.01733/) (2016)

## Abstract (arXiv)

In this study, we present two distinct approaches within the realm of Deep Reinforcement Learning (Deep-RL) aimed at enhancing mapless navigation for a ground-based mobile robot. The research methodology primarily involves a comparative analysis between a Deep-RL strategy grounded in the foundational Deep Q-Network (DQN) algorithm, and an alternative approach based on the Double Deep Q-Network (DDQN) algorithm. The agents in these approaches leverage 24 measurements from laser range sampling, coupled with the agent's positional differentials and orientation relative to the target. This amalgamation of data influences the agents' determinations regarding navigation, ultimately dictating the robot's velocities. By embracing this parsimonious sensory framework as proposed, we successfully showcase the training of an agent for proficiently executing navigation tasks and adeptly circumventing obstacles. Notably, this accomplishment is attained without a dependency on intricate sensory inputs like those inherent to image-centric methodologies. The proposed methodology is evaluated in three different real environments, revealing that Double Deep structures significantly enhance the navigation capabilities of mobile robots compared to simple Q structures.