A Fusion Method of Local Path Planning for Mobile Robots Based on LSTM Neural Network and Reinforcement Learning

Figure 19

Comparison of the FL, LSTM_FT, and LSTM_FTR models. (a) Obstacles near the target point. (b) Discrete obstacles. (c) L-shaped obstacles. (d) U-shaped obstacles. (e) Multiple U-shaped obstacles. (f) Complex obstacle environment.

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