基于深度强化学习的多约束舰载机动态路径规划研究

Research on dynamic multi-constraint path planning of carrier-based aircraft based on deep reinforcement learning

  • 摘要: 目的现有舰载机路径规划方法大多忽略了舰载机转运过程中的实际空间约束且难以满足高度动态变化的甲板环境。因此,提出了一种综合考虑位姿约束和运动约束的舰载机动态路径规划算法。方法首先,利用多边形法对舰载机外形进行几何建模,并基于舰载机转运速度、朝向角等参数构建舰载机运动学模型。然后,将舰载机路径规划问题建模为马尔科夫决策过程,根据舰载机的运动特征确定动作空间和状态空间,综合考虑位姿、安全、效率等多种因素设计奖励函数,并提出基于深度强化学习的舰载机路径规划算法。最后,通过仿真实验验证所提算法的有效性。结果结果表明,所提算法相比传统算法在调度时间上平均减少了9.2%,在目标朝向角误差上平均减少了98.7%。结论所提方法能够有效提高舰载机的转运效率,为航母甲板上舰载机调运决策提供参考。

     

    Abstract: Purpose Most existing path planning methods for Carrier-based aircraft overlook the practical spatial constraints during their transfer process and struggle to adapt to the highly dynamic deck environment. To address these limitations, this paper proposes a dynamic path planning algorithm for Carrier-based aircraft that comprehensively considers positional and motion constraints as well as target heading angles. Method Initially, the geometric modeling of the Carrier-based aircraft's shape is conducted using the polygon method. Based on parameters such as the transfer speed and heading angle of the Carrier-based aircraft, a kinematics model is then proposed. Subsequently, the path planning problem for the Carrier-based aircraft is modeled as a Markov Decision Process (MDP). The action space and state space are determined according to the aircraft's motion characteristics. A reward function is designed, taking into account various factors such as position, orientation, safety, and efficiency. A Carrier-based aircraft path planning algorithm based on deep reinforcement learning is then proposed. Finally, simulation experiments are conducted to validate the effectiveness of the proposed algorithm. Results The results demonstrate that the proposed algorithm reduces the scheduling time by an average of 9.2% and the target heading angle error by an average of 98.7% compared to traditional algorithms. Conclusion The proposed method effectively enhances the transfer efficiency of Carrier-based aircraft, providing valuable insights for decision-making in the coordination and movement of Carrier-based aircraft on aircraft carrier decks.

     

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