首页|Tube-based robust reinforcement learning for autonomous maneuver decision for UCAVs
Tube-based robust reinforcement learning for autonomous maneuver decision for UCAVs
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Reinforcement Learning(RL)algorithms enhance intelligence of air combat Autono-mous Maneuver Decision(AMD)policy,but they may underperform in target combat environ-ments with disturbances.To enhance the robustness of the AMD strategy learned by RL,this study proposes a Tube-based Robust RL(TRRL)method.First,this study introduces a tube to describe reachable trajectories under disturbances,formulates a method for calculating tubes based on sum-of-squares programming,and proposes the TRRL algorithm that enhances robustness by utilizing tube size as a quantitative indicator.Second,this study introduces offline techniques for regressing the tube size function and establishing a tube library before policy learning,aiming to eliminate complex online tube solving and reduce the computational burden during training.Fur-thermore,an analysis of the tube library demonstrates that the mitigated AMD strategy achieves greater robustness,as smaller tube sizes correspond to more cautious actions.This finding high-lights that TRRL enhances robustness by promoting a conservative policy.To effectively balance aggressiveness and robustness,the proposed TRRL algorithm introduces a"laziness factor"as a weight of robustness.Finally,combat simulations in an environment with disturbances confirm that the AMD policy learned by the TRRL algorithm exhibits superior air combat performance com-pared to selected robust RL baselines.
Air combatAutonomous maneuver deci-sionRobust reinforcement learn-ingTube-based algorithmCombat simulation
Lixin WANG、Sizhuang ZHENG、Haiyin PIAO、Changqian LU、Ting YUE、Hailiang LIU
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School of Aeronautical Science and Engineering,Beihang University,Beijing 100191,China
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