《计算机应用研究》|Application Research of Computers

基于改进CB-HAQL算法的无人机导航方法研究

Research on UAV navigation method based on improved CB-HAQL algorithm

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作者 胡丹丹,莫宇帅
机构 中国民航大学 机器人研究所,天津 300300
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文章编号 1001-3695(2020)07-030-2068-04
DOI 10.19734/j.issn.1001-3695.2019.01.0024
摘要 针对基于案例推理启发式Q学习(CB-HAQL)算法受案例库质量影响而无法收敛到较优策略的问题,提出基于有效触发机制改进的CB-HAQL算法。首先,根据迭代次数设置触发式案例库更新机制,只在达到阈值时生成或更新案例库,保证案例库质量;其次,设置动态参数调整案例对动作选取影响,使智能体根据对环境掌握程度决定启发影响大小;最后,加入经验倾向性探索动作加快学习效率。实验证明,改进后的算法提升了策略质量和训练速度,无人机完成导航任务证明了学习策略的有效性。
关键词 无人机; 避障; 自主导航; CB-HAQL; 触发机制
基金项目
本文URL http://www.arocmag.com/article/01-2020-07-030.html
英文标题 Research on UAV navigation method based on improved CB-HAQL algorithm
作者英文名 Hu Dandan, Mo Yushuai
机构英文名 Robotics Institute,Civil Aviation University of China,Tianjin 300300,China
英文摘要 The quality of case base would affect the convergence effect of CB-HAQL algorithm strategy. Aiming at the fact, this paper developed an improved CB-HAQL algorithm based on effective triggering mechanism. Firstly, the algorithm set the trigger case base update mechanism according to the number of iterations. In order to ensure the quality of the case base, only when the threshold was reached, the algorithm generated or update the case base. Secondly, the dynamic parameter was set to adjust the impact of the case on action selection, so that the agent could determine the size of heuristic influence according to the degree of mastery of the environment. Finally, the algorithm added experience-oriented exploratory action to accelerate the learning efficiency. Experiments show that the algorithm improves the strategy quality and training speed, and the UAV's navigation task proves the effectiveness of learning strategy.
英文关键词 UAV; obstacle avoidance; autonomous navigation; case based heuristically accelerated Q-learning(CB-HAQL); trigger mechanism
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收稿日期 2019/1/11
修回日期 2019/3/11
页码 2068-2071
中图分类号 TP399
文献标志码 A