先進航空モビリティ計画のためのTransformerベースヒューリスティック
Transformer-based Heuristic for Advanced Air Mobility Planning
リスクを考慮したUAV経路計画を制約付き最短経路問題として解く際、Transformerベースの学習ヒューリスティックを改良し、データセット拡張と新戦略で性能を向上させた。
分類: cs.RO
原文アブストラクト
Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a Constrained Shortest Path (CSP) problem, which seeks to find the shortest route that meets a predefined safety constraint. Solving CSP problems is NP-hard, presenting significant computational challenges. Although traditional methods can accurately solve CSP problems, they tend to be very slow. Previously, we introduced an additional safety dimension to the traditional A* algorithm, known as ASD A*, to effectively handle Constrained Shortest Path (CSP) problems. Then, we developed a custom learning-based heuristic using transformer-based neural networks, which significantly reduced computational load and enhanced the performance of the ASD A* algorithm. In this paper, we expand our dataset to include more risk maps and tasks, improve the proposed model, and increase its performance. We also introduce a new heuristic strategy and a novel neural network, which enhance the overall effectiveness of our approach.
