深層強化学習による視覚ベースの分散型マルチUAV衝突回避ナビゲーション
Vision-based Distributed Multi-UAV Collision Avoidance via Deep Reinforcement Learning for Navigation
深度画像と慣性計測を入力に、強化学習とオートエンコーダで各UAVが独立して衝突回避しながら目標へ向かう分散ポリシーを学習した研究。
著者: Huaxing Huang, Guijie Zhu, Zhun Fan, Hao Zhai, Yuwei Cai, Ze Shi, Zhaohui Dong, Zhifeng Hao
分類: cs.RO
原文アブストラクト
Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on certain occasions. In this paper, we presented a vision-based decentralized collision-avoidance policy for multi-UAV systems, which takes depth images and inertial measurements as sensory inputs and outputs UAV's steering commands. The policy is trained together with the latent representation of depth images using a policy gradient-based reinforcement learning algorithm and autoencoder in the multi-UAV threedimensional workspaces. Each UAV follows the same trained policy and acts independently to reach the goal without colliding or communicating with other UAVs. We validate our policy in various simulated scenarios. The experimental results show that our learned policy can guarantee fully autonomous collision-free navigation for multi-UAV in the three-dimensional workspaces with good robustness and scalability.
