Recurrent PPOを用いたUAV群による分散型目標位置推定フレームワーク
A Scalable Decentralized Reinforcement Learning Framework for UAV Target Localization Using Recurrent PPO
GNSSが使えない環境で、複数UAVがRecurrent PPOで協調し放射源の目標を位置推定する分散型手法を提案。単機で93%、2機で86%の精度を達成。
著者: Leon Fernando, Billy Pik Lik Lau, Chau Yuen, U-Xuan Tan
分類: cs.RO, cs.LG
原文アブストラクト
The rapid advancements in unmanned aerial vehicles (UAVs) have unlocked numerous applications, including environmental monitoring, disaster response, and agricultural surveying. Enhancing the collective behavior of multiple decentralized UAVs can significantly improve these applications through more efficient and coordinated operations. In this study, we explore a Recurrent PPO model for target localization in perceptually degraded environments like places without GNSS/GPS signals. We first developed a single-drone approach for target identification, followed by a decentralized two-drone model. Our approach can utilize two types of sensors on the UAVs, a detection sensor and a target signal sensor. The single-drone model achieved an accuracy of 93%, while the two-drone model achieved an accuracy of 86%, with the latter requiring fewer average steps to locate the target. This demonstrates the potential of our method in UAV swarms, offering efficient and effective localization of radiant targets in complex environmental conditions.
