Unmanned Surface Vehicle Cluster Path Planning Based on Deep Reinforcement Learning
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摘要: 随着无人艇在海上搜索领域的广泛应用, 传统的路径规划算法不能满足复杂的救援场景, 会导致局部最优、任务完成率低、收敛速度慢等情况。为此, 提出了一种无人艇集群协同搜救的路径规划方法。首先, 基于多智能体深度确定性策略梯度算法引入长短期记忆模块, 增强USV对路径规划中时序信息的利用能力; 其次, 设计了多层级表征经验池, 提高训练效率和数据利用率, 减少不同经验间的干扰; 最后, 采用随机网络蒸馏作为好奇心机制, 为USV探索新区域提供内在奖励, 解决奖励稀疏导致的收敛问题。仿真实验结果表明, 改进后的算法与原始算法相比, 收敛速度提升了约38.46%, 路径长度也缩短了27.02%, 以及避障能力上有显著提升。Abstract: With the wide application of unmanned surface vehicles (USV) in the field of maritime search, the traditional path planning algorithms cannot meet the complex rescue scenarios, which can lead to local optimum, low task completion rate, and slow convergence speed. For this reason, a path planning method for Unmanned Surface Vehicles cluster cooperative search and rescue is proposed. Firstly, a long and short-term memory module is introduced based on the multi-agent deep deterministic policy gradient algorithm to enhance the ability of the USVs to utilize the temporal information in path planning; secondly, a multi-level representational experience pool is designed to improve the training efficiency and data utilization, and to reduce the interference between different experiences; lastly, stochastic network distillation is used as a curiosity mechanism to provide intrinsic rewards for the unmanned boats to explore new regions, and to solve the convergence due to the sparse rewards Problem. The simulation experiment results show that the improved algorithm improves the convergence speed by about 38.46%, the path length has been shortened by 27.02%, and the obstacle avoidance ability has been significantly improved compared with the original algorithm.
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Key words:
- USV /
- deep reinforcement learning /
- long and short-term memory /
- curiosity mechanism /
- path planning
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图 4 基于多层级经验池MADDPG-LSTM算法结构图
Figure 4. Structure diagram of MADDPG-LSTM algorithm based on multi-level buffer pool
图 8 MADDPG-LSTM算法的最大奖励时的路径
Figure 8. Path at maximum reward for the MADDPG-LSTM algorithm
图 9 基于多层级经验池MADDPG-LSTM算法的最大奖励时的路径
Figure 9. Path at maximum reward based multi-level experience pool MADDPG-LSTM algorithm
图 10 基于多层级经验池MADDPG-LSTM-RND算法的最大奖励是的路径
Figure 10. Path at maximum reward based multi-level experience pool MADDPG-LSTM-RND algorithm
表 1 USV 3自由度运动参数
Table 1. Three-degree-of-freedom motion parameters for USV
自由度 线速度/角速度 位置/欧拉角 前进后退 $\mu $ x 左右横移 $\nu $ y 艏摇 $ \omega $ ψ 
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表 2 实验超参数
Table 2. Experimental hyperparameters
参数名称 数值 经验池大小 10 000 Actor网络学习率 0.001 Critic网络学习率 0.001 训练回合数 10 000 批尺寸 1 024 折损因子γ 0.99 软更新系数$ \tau $ 0.01 每回合最大步数 100
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表 3 不同算法规划出最优路径的性能表现
Table 3. Performance of different algorithms for planning out the optimal paths
算法 最大奖
励值到达所有
目标点收
敛回合规划路径
与障碍物
相邻的次数转弯
次数到达所有
目标点的
总步数MADDPG 23.25 6 500 82 25 18.5 MADDPG-LSTM 25.85 5 500 73 20 21 多层级经验池
MADDPG-LSTM
26.25
4 500
65
20
17.5多层级经验池
MADDPG-LSTM-RND27.45 4 000 53 21 13.5
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