Abstract
Racing drones have attracted increasing attention due to their remarkable high speed and excel-lent maneuverability.However,autonomous multi-drone racing is quite difficult since it requires quick and agile flight in intricate surroundings and rich drone interaction.To address these issues,we propose a novel autonomous multi-drone racing method based on deep reinforcement learning.A new set of reward functions is proposed to make racing drones learn the racing skills of human experts.Unlike previous methods that required global information about tracks and track boundary constraints,the proposed method requires only limited localized track information within the range of its own onboard sensors.Further,the dynamic re-sponse characteristics of racing drones are incorporated into the training environment,so that the proposed method is more in line with the requirements of real drone racing scenarios.In addition,our method has a low computational cost and can meet the requirements of real-time racing.Finally,the effectiveness and superiority of the proposed method are verified by extensive comparison with the state-of-the-art methods in a series of simulations and real-world experiments.
基金项目
National Key Research and Development Program of China(2018AAA0100801)
National Natural Science Foundation of China(62033012)
维普
万方数据