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System Development & Application
|
2068-2071

Research on UAV navigation method based on improved CB-HAQL algorithm

Hu Dandan
Mo Yushuai
Robotics Institute, Civil Aviation University of China, Tianjin 300300, China

Abstract

The quality of case base would affect the convergence effect of CB-HAQL algorithm strategy. Aiming at the fact, this paper developed an improved CB-HAQL algorithm based on effective triggering mechanism. Firstly, the algorithm set the trigger case base update mechanism according to the number of iterations. In order to ensure the quality of the case base, only when the threshold was reached, the algorithm generated or update the case base. Secondly, the dynamic parameter was set to adjust the impact of the case on action selection, so that the agent could determine the size of heuristic influence according to the degree of mastery of the environment. Finally, the algorithm added experience-oriented exploratory action to accelerate the learning efficiency. Experiments show that the algorithm improves the strategy quality and training speed, and the UAV's navigation task proves the effectiveness of learning strategy.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.01.0024
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 7
Section: System Development & Application
Pages: 2068-2071
Serial Number: 1001-3695(2020)07-030-2068-04

Publish History

[2020-07-05] Printed Article

Cite This Article

胡丹丹, 莫宇帅. 基于改进CB-HAQL算法的无人机导航方法研究 [J]. 计算机应用研究, 2020, 37 (7): 2068-2071. (Hu Dandan, Mo Yushuai. Research on UAV navigation method based on improved CB-HAQL algorithm [J]. Application Research of Computers, 2020, 37 (7): 2068-2071. )

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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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