Combining Subgoal Graphs with Reinforcement Learning to Build a Rational Pathfinder

5 Nov 2018Junjie ZengLong QinYue HuCong HuQuanjun Yin

In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1) efficient path planning to eliminate first-move lags; (2) collision-free and smooth for agents with kinematic constraints satisfied... (read more)

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