离线强化学习动态避障导航算法

葛启兴; 章伟; 谢贵亮; 胡陟

doi:10.12299/jsues.23-0227

离线强化学习动态避障导航算法

doi: 10.12299/jsues.23-0227

葛启兴^a,
章伟^a, ,,
谢贵亮^a,
胡陟^b

a.
上海工程技术大学机器人智能控制实验室
b.
上海工程技术大学电子电气工程学院, 上海 201620

详细信息

作者简介:
葛启兴（1988−），男，硕士生，研究方向为移动机器人和无人机路径规划算法。E-mail：1511094206@qq.com

通讯作者:
章　伟（1977− ），男，教授，博士，研究方向为集群智能、多智能体协同控制、编队控制、非线性系统稳健控制与状态观测、无人机避障控制。E-mail：wizzhang@foxmail.com

中图分类号: V249.1；V279
计量
- 文章访问数: 76
- HTML全文浏览量: 35
- PDF下载量: 2
- 被引次数: 0
出版历程
- 收稿日期: 2023-11-10
- 网络出版日期: 2024-11-14
- 刊出日期: 2024-09-30

Offline reinforcement learning dynamic obstacles avoidance navigation algorithm

a.
Robotics and Intelligent Control Laboratory
b.
School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

摘要

摘要: 需要实时采样更新数据供无人机(unmanned aerial vehicle, UAV)优化避障策略是深度强化学习(deep reinforcement learning, DRL)应用于防撞领域亟需解决的问题。针对此，提出一种基于离线DRL的动态避障导航算法。将离线DRL算法与速度障碍(velocity obstacle, VO)法结合，改善在线深度强化学习算法需要高实时性交互数据的问题。通过对策略更新进行约束，提升离线DRL算法的性能。开发一个基于VO的奖励函数，使无人机在躲避动态障物的同时考虑耗时和路径最短问题。在三维避障导航环境中仿真进一步验证该方法在路径长度、飞行耗时以及避障成功率等方面均优于在线深度强化学习避障算法，有效改善了DRL需要不断输入在线数据才能有效更新策略的问题。
- 离线强化学习 /
- 速度障碍法 /
- 离线数据 /
- 动态避障 /
- 导航 /
- 奖励函数
Abstract: Real-time sampling and updating of data to optimize obstacle avoidance strategies for unmanned aerial vehicle (UAV) is an urgent issue in applying deep reinforcement learning (DRL) to collision prevention. In response to this problem, a dynamic obstacle avoidance navigation algorithm based on offline DRL was proposed. The combination of an offline DRL algorithm and velocity obstacle (VO) algorithm was introduced to address the issue of the high real-time interaction data required by online DRL algorithms. Performance enhancement of the offline DRL algorithm was achieved by imposing constraints on policy updates. A reward function based on VO was developed, which could enable the UAV to consider both time consumption and the shortest path while avoiding dynamic obstacles. Simulation verification in a three-dimensional obstacle navigation environment show that this method can surpass online deep reinforcement learning obstacle avoidance algorithms in terms of path length, flight time, and obstacle avoidance success rate. It will effectively address the problem of DRL requiring continuous input of online data for efficient policy updates
- offline reinforcement learning /
- velocity obstacle (VO) /
- offline data /
- dynamic obstacle avoidance /
- navigation /
- reward function

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图 1 速度障碍法原理示意图

Figure 1. An illustration of velocity obstacle

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图 2 单动态障碍物环境

Figure 2. Single-dynamic obstacle environments

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图 3 单动态障碍物环境下UAV避障导航路径长度

Figure 3. Path length of UAV obstacle avoidance and navigation in single dynamic obstacle environments

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图 4 多动态障碍物环境

Figure 4. Multi-dynamic obstacle environments

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图 5 多动态障碍物环境中UAV避障导航路径长度

Figure 5. Path length of UAV obstacle avoidance and navigation in multi dynamic obstacle environment

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表 1 单动态障碍物环境下算法的避障导航指标模拟

Table 1. Simulations of obstacle avoidance and navigation indexes of algorithms in single dynamic obstacle environment

环境	路径长度				飞行耗时				避障成功率
环境	TD3	PPO	BCQ	PBCQ	TD3	PPO	BCQ	PBCQ	TD3	PPO	BCQ	PBCQ
1	66.1	14.9	15.2	14.7	42.0	15.0	11.5	11.3	0.98	0.99	0.85	0.95
2	29.1	15.3	17.4	17.2	20.6	14.3	12.7	12.4	1	0.99	0.97	1
3	20.5	15.3	16.1	15.3	21.0	12.7	12.4	12.2	0.87	0.99	0.99	0.99
4	17.9	15.6	14.5	14.2	20.6	13.2	12.5	11.5	0.92	0.98	0.97	0.99

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表 2 多动态障碍物环境下算法的避障导航指标模拟

Table 2. Simulations of obstacle avoidance and navigation indexes of algorithms in multi-dynamic obstacle environment

环境	路径长度			飞行耗时						避障成功率
环境	TD3	PPO	BCQ	PBCQ	TD3	PPO	BCQ	PBCQ	TD3	PPO	BCQ	PBCQ
1	28.3	17.2	21.0	19.8	23.1	18.8	20.2	17.9	0.97	0.98	0.77	0.96
2	16.8	16.0	22.4	17.0	12.2	17.1	19.3	16.7	1	0.91	0.99	0.99
3	18.5	15.6	17.6	15.0	15.4	15.5	17.2	15.4	0.93	0.87	0.85	0.94
4	18.6	15.9	19.9	15.7	15.3	15.7	19.8	16.3	0.93	0.87	0.99	0.99

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