Deep Reinforcement Learning-based Multi-objective Path Planning on the Off-road Terrain Environment for Ground Vehicles

TL;DR

This paper introduces a deep reinforcement learning approach for multi-objective path planning on off-road terrains, balancing energy consumption and path length efficiently using a trained DQN and a multi-step process.

Contribution

It presents a novel DMOP method that transforms high-resolution maps, employs a DQN with hybrid exploration and reward shaping, and significantly improves planning speed and flexibility.

Findings

Over 100 times faster than A* method

30 times faster than H3DM method

Capable of arbitrary untrained planning tasks

Abstract

Due to the vastly different energy consumption between up-slope and down-slope, a path with the shortest length on a complex off-road terrain environment (2.5D map) is not always the path with the least energy consumption. For any energy-sensitive vehicle, realizing a good trade-off between distance and energy consumption in 2.5D path planning is significantly meaningful. In this paper, we propose a deep reinforcement learning-based 2.5D multi-objective path planning method (DMOP). The DMOP can efficiently find the desired path in three steps: (1) Transform the high-resolution 2.5D map into a small-size map. (2) Use a trained deep Q network (DQN) to find the desired path on the small-size map. (3) Build the planned path to the original high-resolution map using a path-enhanced method. In addition, the hybrid exploration strategy and reward shaping theory are applied to train the DQN. The reward function is constructed with the information of terrain, distance, and border. Simulation results show that the proposed method can finish the multi-objective 2.5D path planning task with significantly high efficiency. With similar planned paths, the speed of the proposed method is more than 100 times faster than that of the A* method and 30 times faster than that of H3DM method. Also, simulation proves that the method has powerful reasoning capability that enables it to perform arbitrary untrained planning tasks.