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

表 1 不同等级下的威胁权重、障碍物密度权重

Tab.1 Threat and obstacle density weight under different level

等级 $ {W}_{\text{thr}} $ $ {W}_{\text{den}} $ DWA CBF DWA CBF high 2.0 2.5 1.5 1.8 medium 1.5 1.8 1.0 1.0 low 1.0 1.2 0.7 0.9 none 0.5 0.8 0.5 0.7