Aiming at the problem of collision with static obstacles when using a flight route planned by Q-learning algorithm,a UAV route planning method based on fusion of Q-learning algorithm and artificial potential field algorithm is proposed.The method first uses the Q-learning algorithm to plan a route,then counts the obstacles contained in each flight leg of the route according to the map,and finally applies the improved artificial potential field method to re-plan the flight leg containing obstacles.The experimental results show that the proposed fusion method can plan the shortest route to avoid collision with static obstacles at the cost of a small amount of time and trajectory length.
维普
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