Design of Multimodal Obstacle Avoidance Algorithm Based on Deep Reinforcement Learning

The navigation obstacle avoidance method based on deep reinforcement learning has stronger adaptability and better performance compared to traditional algorithms in complex unknown dynamic environments, and has been widely developed and applied. However, when using multimodal information input, deep reinforcement learning strategy networks extract features that differ significantly between simulated and real world environments, resulting in poor algorithm output strategies and difficulty in transferring models obtained from simulation training to actual environments. To address the aforementioned issues, this article utilizes image segmentation to narrow the gap in environmental features, integrates multimodal information, and designs a deep reinforcement learning multimodal local obstacle avoidance algorithm, MMSEG-PPO, based on proximal strategy optimization algorithms. The algorithm is then ported to practical environments for deployment and testing. The experiment shows that the algorithm proposed in this article reduces the gap between the simulation environment and the actual environment, and has better performance and generalization when transplanted to the real world environment.