动态环境无人机导航的安全分层强化学习框架

商益铭,杜昌平,杨睿,方天睿,杜泽安,郑耀

Safe hierarchical reinforcement learning framework for dynamic UAV navigation

Yiming SHANG,Changping DU,Rui YANG,Tianrui FANG,Ze’an DU,Yao ZHENG

图 1 无人机路径规划的环境模型

Fig.1 Environmental model for UAV path planning