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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 42, 2025 No. 2
455-461

Mutation localization SAC based path planning algorithm for mobile robots under unknown environments

Hu Likun
Wei Chunyou
School of Electrical Engineering, Guangxi University, Nanning 530000, China
DOI: 10.19734/j.issn.1001-3695.2024.06.0233

Abstract

This study proposed a mutation localization algorithm and an improved SAC algorithm, and combined the two into a mutation localization SAC algorithm for mobile robots under the condition of lack of complete environment information and the slow training speed of deep reinforcement learning agents. The mutation localization algorithm was able to compute the subtarget point locations in the absence of complete environment information and reduce the length of the planned path for mobile robots. Meanwhile, it improved the training speed of SAC agents by introducing the improved loss function and multi-stage training method of critic network based on virtual potential field. The experimental results show that the mutation localization SAC algorithm reduces 46.68%, 39.50%, 20.18%, and 27.79% in training time compared with the DDPG, SAC, PER-SAC, and HER-TD3, respectively. In addition, the mutation localization SAC algorithm reduces the length of the planned paths in different environments by 13.71%, 10.26%, 10.90% and 15.89% on average.

Foundation Support

广西科技计划资助项目(桂科AB21220039)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.06.0233
Publish at: Application Research of Computers Printed Article, Vol. 42, 2025 No. 2
Section: Algorithm Research & Explore
Pages: 455-461
Serial Number: 1001-3695(2025)02-018-0455-07

Publish History

[2025-02-05] Printed Article

Cite This Article

胡立坤, 韦春有. 未知环境下基于突变定位SAC算法的移动机器人路径规划 [J]. 计算机应用研究, 2025, 42 (2): 455-461. (Hu Likun, Wei Chunyou. Mutation localization SAC based path planning algorithm for mobile robots under unknown environments [J]. Application Research of Computers, 2025, 42 (2): 455-461. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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