UAV Autonomous Navigation Based on Deep Reinforcement Learning in Highly Dynamic and High-Density Environments
Yuanyuan Sheng, Huanyu Liu, Jun-Bao Li, Qi Han
Abstract
Autonomous navigation of Unmanned Aerial Vehicles (UAVs) based on deep reinforcement learning (DRL) has made great progress. However, most studies assume relatively simple task scenarios and do not consider the impact of complex task scenarios on UAV flight performance. This paper proposes a DRL-based autonomous navigation algorithm for UAVs, which enables autonomous path planning for UAVs in high-density and highly dynamic environments. This algorithm proposes a state space representation method that contains position information and angle information by analyzing the impact of UAV position changes and angle changes on navigation performance in complex environments. In addition, a dynamic reward function is constructed based on a non-sparse reward function to balance the agent’s conservative behavior and exploratory behavior during the model training process. The results of multiple comparative experiments show that the proposed algorithm not only has the best autonomous navigation performance but also has the optimal flight efficiency in complex environments.