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HGAT-DRL (A heterogeneous GAT-based deep reinforcement learning algorithm for crowd robot navigation)

This repository contains the codes for our paper, Navigating Robots in Dynamic Environment With Deep Reinforcement Learning, which has been published on IEEE Transactions on Intelligent Transportation Systems.

Abstract

In the fight against COVID-19, many robots replace human employees in various tasks that involve a risk of infection. Among these tasks, the fundamental problem of navigating robots among crowds, named \emph{robot crowd navigation}, remains open and challenging. Therefore, we propose HGAT-DRL, a heterogeneous GAT-based deep reinforcement learning algorithm. This algorithm encodes the constrained human-robot-coexisting environment in a heterogeneous graph consisting of four types of nodes. It also constructs an interactive agent-level representation for objects surrounding the robot, and incorporates the kinodynamic constraints from the non-holonomic motion model into the deep reinforcement learning (DRL) framework. Simulation results show that our proposed algorithm achieves a success rate of 92%, at least 6% higher than four baseline algorithms. Furthermore, the hardware experiment on a Fetch robot demonstrates our algorithm's successful and convenient migration to real robots.

Method Overview

framework

Setup

  1. Install Python-RVO2 library
  2. Install socialforce library
  3. Install crowd_sim and crowd_nav into pip
pip install -e .

Getting Started

This repository are organized in two parts: crowd_sim/ folder contains the simulation environment and crowd_nav/ folder contains codes for training and testing the policies. Details of the simulation framework can be found here. Below are the instructions for training and testing policies, and they should be executed inside the crowd_nav/ folder.

  1. Train a policy.
python train.py --policy td3
  1. Test policies with 1000 test cases.
python test.py --model_dir data/output
  1. Run policy for one episode and visualize the result.
python test.py --policy td3 --model_dir data/output --phase test --visualize --test_case 0

Trajectory Diagram

Complete Trajectory From 0s to 5s
From 5s to 10s From 10s to 15s
:------------------------------------------: :------------------------------------------:

Citation

@ARTICLE{9927468, author={Zhou, Zhiqian and Zeng, Zhiwen and Lang, Lin and Yao, Weijia and Lu, Huimin and Zheng, Zhiqiang and Zhou, Zongtan}, journal={IEEE Transactions on Intelligent Transportation Systems}, title={Navigating Robots in Dynamic Environment With Deep Reinforcement Learning}, year={2022}, volume={23}, number={12}, pages={25201-25211}, doi={10.1109/TITS.2022.3213604}}

Acknowledge

This work is based on CrowdNav and RelationalGraphLearning. The authors thank Changan Chen, Yuejiang Liu, Sven Kreiss, Alexandre Alahi, Sha Hu, Payam Nikdel, Greg Mori, Manolis Savva for their works.