LSTM-DQN-APF Path Planning Algorithm Empowered by Twins in Complex Scenarios

Abstract

In response to the issues of unreachable targets, local minima, and insufficient real-time performance in drone path planning in urban low-altitude complex scenarios, this paper proposes a fusion algorithm based on digital twin, integrating LSTM (long short-term memory), DQN (Deep Q-Network), and APF (artificial potential field). The algorithm relies on a twin system, integrating multi-sensor fusion technology and Kalman filtering to input obstacle information and UAV trajectory predictions into the DQN, which outputs action decisions for intelligent obstacle avoidance. Additionally, to address the blind search problem in trajectory planning, the algorithm introduces exploration rewards and heuristic reward components, as well as adding velocity and acceleration compensation terms to the attraction and repulsion functions, reducing the path deviation of UAVs during dynamic obstacle avoidance. Finally, to tackle the issues of insufficient training sample size and simulation accuracy, this paper leverages a digital twin platform, utilizing a dual feedback mechanism from virtual and physical environments to generate a large number of complex urban scenario samples. This approach effectively enhances the diversity and accuracy of training samples while significantly reducing the experimental costs of the algorithm. The results demonstrate that the LSTM-DQN-APF algorithm, combined with the digital twin platform, can significantly improve the issues of unreachable goals, local optimality, and real-time performance in UAV operations in complex environments. Compared to traditional algorithms, it notably enhances path planning speed and obstacle avoidance success rates. After thorough training, the proposed improved algorithm can be applied to real-world UAV systems, providing reliable technical support for applications such as smart city inspections and emergency rescue operations.

Topics & Concepts