The invention provides a complex dynamic environment-oriented unmanned underwater vehicle track generation method and system. The method comprises the following steps of: determining a main scene and two sub-scenes of unmanned underwater vehicle track planning; determining environment states of the three scenes; inputting the environment states of the two sub-scenes into the trained double-depth Q network model, and predicting the actions of the two sub-scenes at the next moment; and by referring to the environment state of the main scene, selecting the predicted unmanned underwater vehicle actions of the two sub-scenes at the next moment through a trained multi-target reinforcement learning architecture, so that obstacle avoidance is emphatically considered when an obstacle has a collision threat to the unmanned underwater vehicle, and the optimal action is selected by taking the destination with the fastest speed as a target under other conditions. And planning of the flight path of the unmanned underwater vehicle is realized. According to the invention, the multi-target reinforcement learning architecture is utilized to judge the importance of two strategies of obstacle avoidance and destination going in different environment states, the success rate of track planning is improved, and the track is ensured to be safe and efficient.
本发明提供一种面向复杂动态环境的水下无人潜航器航迹生成方法及系统,包括:确定水下无人潜航器航迹规划的主场景和两个子场景;确实上述三个场景的环境状态;将两个子场景的环境状态输入到训练好的双深度Q网络模型,预测下一时刻两个子场景的动作;参考主场景环境状态,通过训练好的多目标强化学习架构对预测的下一时刻两个子场景的无人潜航器动作进行选择,以在障碍物对无人潜航器有碰撞威胁时重点考虑避障、其余情况下以最快速度前往目的地为目标,从中选择最优的动作,实现对无人潜航器航迹的规划。本发明利用多目标强化学习架构,判断不同环境状态障碍物规避和前往目的地两个策略的重要性,提升航迹规划的成功率,且保证航迹安全高效。
Underwater unmanned underwater vehicle track generation method and system facing complex dynamic environment
面向复杂动态环境的水下无人潜航器航迹生成方法及系统
2023-01-31
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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