Research on UAV path planning based on Dueling DQN in unknown environment
In order to effectively solve the path planning problem of UAV in unknown environment,a path planning method based on Dueling DQN was proposed.Firstly,on the basis of DQN,the adversarial network architecture is introduced to better im-prove the success rate.Secondly,the state space is designed and discrete actions and appropriate reward functions are defined to guide the UAV to learn Xi optimal path.Finally,the DQN and Dueling DQN are trained in the simulation environment,and the re-sults show that:①Dueling DQN can plan the collision-free path from the initial point to the target point in the unknown environ-ment,and can obtain a higher reward value;②After 50000 training sessions,the success rate of Dueling DQN is 17.71%higher than that of DQN,the collision rate is reduced by 1.57%,and the rate of exceeding the longest step size is reduced by 16.14%.
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