Unmanned vehicles have a broad application prospect, and path planning is a very important part. Unmanned vehicles need to explore the environment independently to find their destination. The forest land environment is a relatively common field environment. There are many trees in this environment, which requires a higher ability of planning the path of unmanned vehicles. The classic algorithm of Deep Deterministic Policy Gradient (DDPG) has the advantages of greater applicability in continuous control problems in deep reinforcement learning. Aiming at the unmanned vehicles path planning in the forest land environment, this paper established the kinematics model of the vehicle, build the vehicle training environment based on GYM. Based on the depth deterministic strategy gradient (DDPG) algorithm, we designed the continuous state action space, and a new reward function with the help of laser radar information. In order to improve the learning efficiency, the data was normalized, and used the prioritized experience replay. The results show that the algorithm can plan collision-free paths in forest land environment.
Unmanned Vehicle Path Planning Based on DDPG Reinforcement Learning Algorithm in Forest Land Environment
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2024 ; Shenyang, China September 19, 2024 - September 21, 2024
Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems (4th ICAUS 2024) ; Kapitel : 39 ; 409-419
28.03.2025
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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