Target Search in Unknown Environment Based on Temporal Differential Learning

Yiming Li, Jinwen Hu, Congzhe Zhang, Zhao Xu, Caijuan Jia

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

This paper provides a path planning algorithm to solve the problem of target search in the unknown environment. By updating the value function after each action in turn, this paper overcomes the problem that traditional reinforcement learning algorithms require a large number of training processes. Besides, this paper further expands and optimizes the algorithm based on the hardware characteristics of UAV (Unmanned Aerial Vehicle). When the detection range of the sensor is different, the efficiency of the algorithm can be improved by taking it into consideration. To solve the problem of high steering time cost, it increase the number of possible non-existing paths based on the value function. The improvement and optimization for practical problems in this paper makes the algorithm can be applied to UAV better. Finally, the paper tests the algorithm in a simulation environment to ensure that the algorithm can effectively complete the path planning task of the search target.

源语言英语
主期刊名Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
编辑Liang Yan, Haibin Duan, Xiang Yu
出版商Springer Science and Business Media Deutschland GmbH
2333-2343
页数11
ISBN(印刷版)9789811581540
DOI
出版状态已出版 - 2022
活动International Conference on Guidance, Navigation and Control, ICGNC 2020 - Tianjin, 中国
期限: 23 10月 202025 10月 2020

出版系列

姓名Lecture Notes in Electrical Engineering
644 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议International Conference on Guidance, Navigation and Control, ICGNC 2020
国家/地区中国
Tianjin
时期23/10/2025/10/20

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