Deep Reinforcement Learning Assisted UAV Path Planning Relying on Cumulative Reward Mode and Region Segmentation

IF 5.3 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC IEEE Open Journal of Vehicular Technology Pub Date : 2024-03-16 DOI:10.1109/OJVT.2024.3402129
Zhipeng Wang;Soon Xin Ng;Mohammed EI-Hajjar
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Abstract

In recent years, unmanned aerial vehicles (UAVs) have been considered for many applications, such as disaster prevention and control, logistics and transportation, and wireless communication. Most UAVs need to be manually controlled using remote control, which can be challenging in many environments. Therefore, autonomous UAVs have attracted significant research interest, where most of the existing autonomous navigation algorithms suffer from long computation time and unsatisfactory performance. Hence, we propose a Deep Reinforcement Learning (DRL) UAV path planning algorithm based on cumulative reward and region segmentation. Our proposed region segmentation aims to reduce the probability of DRL agents falling into local optimal trap, while our proposed cumulative reward model takes into account the distance from the node to the destination and the density of obstacles near the node, which solves the problem of sparse training data faced by the DRL algorithms in the path planning task. The proposed region segmentation algorithm and cumulative reward model have been tested in different DRL techniques, where we show that the cumulative reward model can improve the training efficiency of deep neural networks by 30.8% and the region segmentation algorithm enables deep Q-network agent to avoid 99% of local optimal traps and assists deep deterministic policy gradient agent to avoid 92% of local optimal traps.
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依赖累积奖励模式和区域分割的深度强化学习辅助无人机路径规划
近年来,无人驾驶飞行器(UAV)已被考虑用于灾害预防和控制、物流和运输以及无线通信等许多应用领域。大多数无人飞行器需要使用遥控器进行手动控制,这在许多环境中都具有挑战性。因此,自主无人机引起了人们极大的研究兴趣,而大多数现有的自主导航算法都存在计算时间长、性能不理想等问题。因此,我们提出了一种基于累积奖励和区域分割的深度强化学习(DRL)无人机路径规划算法。我们提出的区域分割旨在降低DRL代理陷入局部最优陷阱的概率,而我们提出的累积奖励模型考虑了节点到目的地的距离和节点附近的障碍物密度,解决了DRL算法在路径规划任务中面临的训练数据稀疏的问题。我们在不同的 DRL 技术中测试了所提出的区域分割算法和累积奖励模型,结果表明累积奖励模型能将深度神经网络的训练效率提高 30.8%,区域分割算法能使深度 Q 网络代理避免 99% 的局部最优陷阱,并帮助深度确定性策略梯度代理避免 92% 的局部最优陷阱。
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CiteScore
9.60
自引率
0.00%
发文量
25
审稿时长
10 weeks
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