2022 4th International Conference on Control and Robotics
Smooth Path Planning of 6-DOF Robot Based on
Reinforcement Learning
Jiawei Tian
College of Information Science and Technology
Beijing University of Chemical Technology
Beijing, China
2020210474@mail.buct.edu.cn
Abstract—The current path planning algorithms such as A-
2022 4th International Conference on Control and Robotics (ICCR) | 978-1-6654-8641-5/22/$31.00 ©2022 IEEE | DOI: 10.1109/ICCR55715.2022.10053875
star(all stars) algorithm and RRT (Rapidly-exploring Random
Trees) algorithm can meet the obstacle avoidance planning of the
6-DOF robot, but the smoothness of the path is not considered.
Working in an unreasonable path for a long time will produce a
great load on the joints of the 6-DOF robot and seriously affect
its life. In this paper, we use reinforcement learning reconcile A-
star algorithm and RRT algorithm for smooth path planning of
the robot. Experimental results show that compared with A-star
algorithm and RRT algorithm, the fusion algorithm has
smoother path and more reasonable time.
Keywords—path planning, A-star, RRT, RL, 6-DOF robot
I. INTRODUCTION
After years of development, the mechanical arm has made
great progress, such as 4-DOF robot arm[1-3] and 6-DOF
mechanical arm. With the popularization of AI (artificial
intelligence), the requirements of industrial production on the
intelligence of 6-DOF robot are increasing. At present, the
traditional teaching method is still used in the path planning of
the 6-DOF robot in industrial production. The traditional
teaching method is operated by the on-site personnel in
advance, and then the relevant parameters are recorded and
saved. After that, the robot arm system will perform repeated
operations according to the parameters. This method can only
deal with the fixed environment, and it is very cumbersome to
adjust the parameters of each robot. Another problem is that
such a path is neither the shortest nor the smoothest. This
results in a waste of production time and accelerates the wear
of the 6-DOF robot joints. Therefore, the robot arm needs to
carry out path planning according to the environment. Khatib[4]
proposed the artificial potential field method, which can plan a
high-quality path, but the planned path is not necessarily
optimal, and it is easy to fall into a local minimum. Lavalle[5]
proposed the RRT algorithm. In the case of multiple obstacles,
the search success rate is high and the optimal path can be
found, but the algorithm efficiency is low. Yin bin[6] used the
improved RRT algorithm to realize path planning. Compared
with the basic RRT algorithm, it has the ability of gradual
optimization and can gradually make the planned path to the
optimal value. However, it also has the problems of slow
planning speed and low success rate. Chen[7] proposed a
hybrid algorithm of low oscillation artificial potential field and
Adaptive-Rapidly-exploring-Random-Tree (ARRT). First, the
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Dazi Li*
College of Information Science and Technology
Beijing University of Chemical Technology
Beijing, China
lidz@mail.buct.edu.cn
low oscillation artificial potential field method is used to search,
and when encountering local minima, collisions and other
problems, the algorithm switches to ARRT algorithm to escape.
This algorithm has strong adaptability, and the success rate and
search efficiency have been significantly improved. Xie[8]
Proposed an improved potential field method, which enables
the robot arm to plan obstacle avoidance paths for dynamic
targets. Zhao[9] proposed a planning algorithm based on A-
star algorithm and cubic spline function, The collision free
grasping method of the robot arm proposed by Du Feng[10]
takes the minimum offset of the joint angle as the optimization
index, can update the end trajectory according to
environmental changes, and adjust the posture accordingly to
improve adaptability. Yang[11] proposed an improved A-star
algorithm that changes the path weight according to the real-
time path congestion, which greatly optimizes the node
redundancy problem of the A-star algorithm. Ju[12] proposed
an improved a * algorithm to solve the path planning problem
under specific conditions and find the global shortest path.
At present, RRT algorithm is widely used in path planning
of 6-DOF robot. Because its algorithm is simple and easy to
implement, and it is easy to add non holonomic constraints, but
there is a problem that the generation path is extremely random.
The optimal path of 6-DOF robot path planning is A-star
algorithm[13]. However, with the increase of space size, the
iterative amount of A-star algorithm increases exponentially,
and the path generation time is too long, which leads to its
failure to be well applied to AI production. In this paper, the
advantages of the RRT algorithm, such as light weight, high
speed, high accuracy and smooth path, are considered. We
study the use of reinforcement learning method to integrate the
two, use strategic decision-making, and use different
algorithms in different scenarios, so that the planned path can
meet both the smoothness requirements of the 6-DOF robot
and the time requirements. The experimental results show that
the output curve of reinforcement learning fusion decision
algorithm is smoother and the time required is within the
demand range.
The rest of this article is organized as follows. In section 2,
mathematical modeling of robot, DH parameters, 6-DOF robot
kinematics and dynamics are presented. Section 3 proposed A-
star algorithm, RRT algorithm and DQN (Deep Q-Network)
algorithm. In section 4, experimental results and comparisons
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are presented. Section 5 draws the conclusion and the future
work.
II. MATHEMATICAL MODELING OF ROBOT
We chose the classic six degree of freedom robot PUMA
560 as the research object. This 6-DOF robot is the puma series
industrial robot launched by unimation in the 1970s. It is
composed of a base, two main links and end effectors, with a
total of six rotating joints.
A. DH Parameters
The mathematical model of the 6-DOF robot is generally
represented by the D-H coordinate system. This method was
proposed by denavit and hartenberg[14] to describe the motion
state of a chain structure composed of multiple rigid body links
and rotating joints or moving joints between them.
B. 6-DOF Robot Kinematics
PUMA 560 has 6 joints, all of which are rotary joints. In
order to obtain the transformation matrix of each link, the
parameters of the link and the joint need to be set first. To
solve the forward kinematics solution of the 6-DOF robot is to
obtain the position and posture of the end effector through the
transformation matrix when the deflection angle of each joint is
known. Under the standard D-H coordinate system, the general
expression of the connecting rod can be written as:
i 1
i T  R  z,i   T (0, 0, d )  T  ai 1 , 0, 0  R x, i 1
ci  si 0 0  1 0 0 ai 1  1 0 0 0
 s ci 0 0  0 1 0 0  0 ci 1  si 1
 i  
0 0 1 0  0 0 1 0  0 s i 1 ci 1
    
0 0 0 1  0 0 0 0  0 0 0
After obtaining the transformation matrix of all the links,
assuming that the reference coordinate system of the
workspace is consistent with the base coordinate system of the
robot arm, the posture transformation matrix of the end effector
of the robot arm in the reference coordinate system can be
written as:
B
6 T 1B T21T32T43T54T65T
The inverse kinematics of the 6-DOF robot is opposite to
the forward kinematics. It is necessary to solve the possible
angles of each joint of the 6-DOF robot when the position and
attitude of the end effector of the 6-DOF robot are known.
Using the analytical method to solve is to start from the
equation of the forward kinematics solution of the robot arm,
constantly solve the inverse matrix of each transformation
matrix in the forward equations, and find the value of each
joint in the process, which is the inverse kinematics solution of
the robot arm. The analytical solution of the 6-DOF robot can
be described as:
0
T 0B T (1 ) 12 T ( 2 ) 32 T (3 ) 34 T ( 4 ) 54 T (5 ) 56 T (6 )
6
The joint angle �� is the result to be obtained.
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III. ALGORITHM IMPLEMENTATION
A. A-star Algorithm
A-star algorithm is a minimum cost search algorithm that
combines the advantages of Dijkstra algorithm and heuristic
function. On the premise that the heuristic function is effective,
this algorithm can find the shortest running path. Core formula
of A-star algorithm, that is, the way to evaluate nodes is its
evaluation function:
f ( n)  g ( n)  h( n) 
where �(�) is the total path cost from the start point to the end
point when node n is selected. Cost size is positively related to
the length of the path. On the premise of no collision between
the paths, the smaller �(�), the better the selected path. �(�)is
the actual path cost required to move from the starting point to
node n. The sum of the lengths of multiple sub paths from the
starting point to node n is accumulated as the path cost. �(�)is
a heuristic function, which calculates the estimated path cost
from node n to the end point.
Our research finds that even though the A-star algorithm
has been improved and optimized, its iterative operation
growth on the 6-DOF robot workspace is exponential. With the
expansion of the workspace and the change of the working
environment, the A-star algorithm is increasingly difficult to
meet the path planning needs of the 6-DOF robot.
 B. RRT Algorithm
0  RRT algorithm builds an undirected graph on a known map
0 by sampling, and then finds the path by searching. RRT
 algorithm starts from a certain point, searches, samples and
0
builds a map at the same time. RRT algorithm can be regarded
as "tree algorithm". It starts from A-starting configuration (a
point for a two-dimensional diagram), continuously extends the
tree data, and finally connects with the target point. RRT
algorithm is a path planning algorithm based on sampling. It
searches globally in the workspace through sampling (taking a
given starting point as the root node, generating new child
nodes by randomly picking points, so that the expansion tree
 grows continuously, with excellent spatial search ability. It also
has excellent performance for path planning in high-
dimensional space. However, due to its random sampling
characteristics, RRT algorithm has problems such as strong
randomness, repeated search and unsmooth path. The main
steps of RRT algorithm are as follows:
1) Define ����� (the start node) and ����� (the goal node) in
workspace to establish a fast expanding random tree T for the
root node is ����� ;
2) Randomly obtain ����� (a random node) in workspace;
3) Traverse all nodes of T to find the node ����� closest to
�����;
4) Check the feasibility between ����� and ����� . If it is
 not feasible, discard ����� and take a new ����� ;if feasible,
make the next judgment;
5) When the distance between ����� and ����� is less than
the step size ε， Connect ����� and ����� directly, and the new
node ���� = ����� ， take ���� into T; When the distance
between ����� and ����� is greater than or equal to ε, expand
90
one step from ����� to ����� ,generate a new node ���� ,and
take ���� into T;
6) Cycle the above process until ���� = ����� or the
distance between ����� and ����� is greater than or equal to ε,
complete the path planning and end the cycle;
7) Trace back by ����� to find the planned path.
In theoretical research and experimental simulation, we
found that RRT algorithm often leads to unsatisfactory path
planning due to its strong randomness in long-distance path
planning.
C. DQN
Since the values of each dimension of the state of the robot
arm are continuous, it is impossible to use tables to record, so a
common solution is to use the idea of function fitting. Because
the neural network has strong expression ability, a neural
network can be used to represent the function Q. If the action is
continuous (infinite), the input of the neural network is state s
and action � , and then the output is a scalar representing the
value obtained by taking action � under state �.If the action is
discrete (finite), in addition to the continuous action, only the
state s can be input into the neural network to output the Q
value of each action at the same time. In general, DQN (and Q-
learning) can only handle the case of discrete actions, because
there is an operation of ���� in the update process of function
Q. Suppose that the parameter used by the neural network to fit
the function q is ω, that is, the Q value of all possible actions a
in each state � can be expressed as �� (�, �).It is known that the
update rules of Q-learning are:
 
Q ( s , a )  Q ( s , a )    r   max Q  s  , a    Q ( s , a ) 
 
a A  the idea of target network. Since the continuous updating of
The formula adopts time-series difference learning
objective � + � ��� �(�' , �') to incrementally update
' � ∈�
�(�, �),that is, to make �(�, �) approach TD error target � +
� ��� �(�', �' ).Then, for a set of data {(�� ,�� ,�� ,�'� )}, the loss
'
� ∈�
function of the Q network can be constructed in the form of
mean square error:
1 N
2
 *  arg m in 
2N
  Q  s , a   F 
i 1
i i
where � = � + � ��� �(�' , �' ) .
' � ∈�
So far, Q-learning can be extended to the form of neural
network: deep Q network. Because DQN is an offline strategy
algorithm, a greedy strategy can be used to balance exploration
and utilization when collecting data, and the collected data can
be stored for use in subsequent training. There are also two
very important modules in DQN: experience replay and target
network, they can help DQN achieve stable and excellent
performance.
In general supervised learning, it is assumed that the
training data are independent and identically distributed. Each
time we train the neural network, we randomly sample one or
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several data from the training data for gradient descent. As the
learning continues, each training data will be used multiple
times. In the original Q-learning algorithm, each data is only
used to update the Q value once. In order to better combine Q-
learning and deep neural network, DQN algorithm adopts
experience replay method. The specific method is to maintain a
replay buffer, store the quad data {(�� ,�� ,�� ,�'� )} sampled from
the environment each time in the replay buffer, and then
randomly sample several data from the replay buffer for
training when training Q-network. This can play the following
two roles:
 Make the sample satisfy the independent hypothesis.
The data obtained by cross sampling in MDP does not
satisfy the independent assumption, because the state at
this time is related to the state at the previous time. The
non independent and identically distributed data have a
great influence on the training of neural networks, and
will make the neural networks fit to the recently trained
data. Experience replay can break the correlation
between samples and make them meet independent
assumptions.
 Improve sample efficiency. Each sample can be used
many times, which is very suitable for gradient learning
of deep neural networks.
The goal of the final update of DQN algorithm is to let
�� (�, �) approach F, since the TD error target itself
contains the output of the neural network, the target is
constantly changing while updating the network parameters,
which is very easy to cause instability in the training of the
neural network. In order to solve this problem, DQN uses

Q-network in the training process will cause the target to
change constantly, it is better to fix the Q-network in the
TD error target for the time being. In order to realize this
idea, we need to use two sets of Q-network.
The original training network �� (�, �) is used to calculate
�� (�, �) in the original loss function, and is updated using
the normal gradient descent method.
Target network ��− (�, �) ,used to calculate the F term in
the original loss function, where �− represents a parameter
 in the target network. If the parameters of the two networks
are consistent at any time, the algorithm is still unstable. In
order to make the update target more stable, the target
network will not be updated every step. Specifically, the
target network uses a relatively old set of parameters of the
training network. The training network will be updated at
every step of training, and the parameters of the target
network will be synchronized with the training network
every step C, that is,�− ← �.
To sum up, the specific flow of DQN algorithm is as
follows:
Algorithm DQN algorithm.
Use random network parameters ω Initialize network
�� (�, �);
Copy the same parameter �− ←ω to initialize the target
network ��' ;
91
 Initialize experience replay pool R;
for e = 1→E do
Get the initial state �1 ;
for t = 1 → T do
�� (�, �) + � − ������→�� ；
�� , �� →��+1 ;
(�� ,�� ,�� ,��+1 )→R;
If size(R) >= N:
Sampling data:{(�� ,�� ,�� ,��+1 )}i=1,…,N
�� = �� + � max ��− (�, �)
�
1
min� = � (�� − �� (�, �))2
�
update network
end for
end for
The action space of the 6-DOF robot is relatively simple,
only: ①A-star; ②RRT has two actions, so it can use the full
connection of 128 neurons in one layer and ReLU as the
activation function.ϵ − greedy is a commonly used exploration
strategy, which allows the agent to randomly select an
unknown action with a small probability ϵ when selecting an
action through decision-making, and to select the action with
the largest median function of the existing action with the
remaining probability 1 − ϵ . This can not only avoid that the
agent gets a large number of negative samples due to excessive
"exploration" of unknown strategies, which makes it difficult
to reach the destination and spends a lot of training time, and
can prevent the agent from falling into local optimization due
to excessive "utilization" of the existing optimal strategy to
select the action with the largest Q value.
The reward function should first meet the most basic
conditions: When the end of the robot arm reaches the target
point, it gets a positive reward, and when the robot arm
encounters an obstacle, it gives corresponding punishment. At
the same time, in order to avoid the blind advance of the robot
arm, a certain punishment will be given when the robot arm
does not reach the target point for a long time. The reward
function is expressed as follows:
using the 64 bit version of MATLAB R2022a. The hardware is:
the CPU is AMD3600, the GPU is NVIDIA 1660s, and the
memory is 16g. The operating system is windows 10.
In the simulation environment in MATLAB, the
coordinates of the robot base were set as the origin of the
coordinate system, and the initial joint angles of the robot were
set as ������ = [0, ��/4, ��, 0, ��/4,0].Bring it into the forward
kinematics of the 6-DOF robot, we got the starting point
coordinate ����� = (0.5963, − 0.1501, − 0.0144) .the goal
point coordinate is ���� = ( − 0.6,0.4,0.2).we set 2 balls with
a radius of 0.1m used as obstacles. Their positions are �1 =
0.3, − 0.25,0 and �2 = −0.32, − 0.08,0.2 .The safely
margin was 0.02.The specific parameters of DQN are set as
Table I:
TABLE I. SYMBOLS AND SET VALUES OF VARIOUS TRAINING PARAMETERS
IN DQN.
parameter symbol Set value
Training cycle T 500
Learning rate α 0.002
Discount rate γ 0.98
�-greedy ϵ 0.01
Sampling data volume N 64
Maximum sample size M 10000
After 500 cycles of training according to the parameters in
the table, the training results are shown in the Fig. 2.
From Fig. 2, it can be seen that the performance of DQN
improves rapidly after 100 training sessions, and finally
converges to the optimal return of the strategy of 200.After the
performance of DQN is improved, it will continue to
experience a certain degree of vibration, mainly due to the
impact of arg max operation after the neural network is over
fitted to some local empirical data.

 200 s t  1 reach th e targ et n o d e


r ( st , a t )    1 0 0 s t  1 en co u n ter o b stacles (7)
 100 s t  1 o ff targ et n o d e


where �(st, �� ) indicates the immediate reward after the robot

arm performs the action. When the robot arm reaches the target
point, it will be rewarded with + 200, and the experiment will
end; when the robot arm encounter obstacles, it will be
Fig. 1. Variation of rewards in DQN network with training cycle
rewarded with -100, and the experiment will end; when the
robot arm is far away from the target node after robot (more
than 2) movements, a penalty of -100 will be given.
IV. SIMULATION AND EXPERIMENTS
In order to verify the effect of RL algorithm on the robot
path planning results, we compared the experimental results of
different algorithms in the same map environment. The main
comparison methods are:①A-star algorithm;②RRT algorithm;
③improved A-star algorithm;④improved RRT algorithm[15]; (a)A-star (b)Improved A-star
⑤ RL(A-star+RRT) algorithm. The algorithm is implemented

92
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(c)RRT (d)Improved RRT
(e)RL(A-star+RRT)
Fig. 2. Path planning results of five algorithms in the same environment.
The experimental results are shown in the Table II:
TABLE II. COMPARISON TABLE OF PATH PLANNING ALGORITHM RESULTS
Algorithm Path length (m) Time spent (s)
A-star
2.0624 49.724
Improved A-star 1.7068 4.398
RRT 2.4619 7.291
Improved RRT
2.0151 4.770
RL(A-star+RRT) 1.9174 2.667
It can be seen from the Fig. 2 and Table III that since the
iterative calculation of the A-star algorithm is very complicated,
a small optimization of the A-star algorithm can significantly
improve it, but this improvement sacrifices the accuracy of the
path, and many excessively tortuous paths may damage the
joints of the solid 6-DOF robot. Due to the randomness of RRT,
even if the offset probability is added to the algorithm, the
optimization of path and time is not obvious. The fusion
algorithm may not be optimal in the path result, but it takes the
shortest time, and the accuracy of the path is not lost, which is
more friendly to the movement of the robot arm.
V. CONCLUSION
This paper presents a fusion algorithm of A-star algorithm
and RRT algorithm guided by reinforcement learning. The
algorithm adopts DQN network structure, which transforms the
path planning problem of the 6-DOF robot into two discrete
strategies. This algorithm takes into account both the path
accuracy of A-star algorithm and the real-time performance of
RRT algorithm. Experimental results show that the fusion
algorithm has better performance than the single algorithm.
In the future, we will extend this algorithm to the solid 6-
DOF robot and apply it to actual production.
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