Research on T-DQN Intelligent Obstacle Avoidance Algorithm of Unmanned Surface Vehicle
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摘要: 无人艇(Unmanned surface vehicle, USV)作为一种具有广泛应用前景的无人系统, 其自主决策能力尤为关键. 由于水面运动环境较为开阔, 传统避障决策算法难以在量化规则下自主规划最优路线, 而一般强化学习方法在大范围复杂环境下难以快速收敛. 针对这些问题, 提出一种基于阈值的深度Q网络避障算法(Threshold deep Q network, T-DQN), 在深度Q网络(Deep Q network, DQN)基础上增加长短期记忆网络(Long short-term memory, LSTM)来保存训练信息, 并设定经验回放池阈值加速算法的收敛. 通过在不同尺度的栅格环境中进行实验仿真, 实验结果表明, T-DQN算法能快速地收敛到最优路径, 其整体收敛步数相比Q-learning算法和DQN算法, 分别减少69.1%和24.8%, 引入的阈值筛选机制使整体收敛步数降低41.1%. 在Unity 3D强化学习仿真平台, 验证了复杂地图场景下的避障任务完成情况, 实验结果表明, 该算法能实现无人艇的精细化避障和智能安全行驶.Abstract: Unmanned surface vehicle (USV) is a kind of unmanned system with wide application prospect, and it is important to train the autonomous decision-making ability. Due to the wide water surface motion environment, traditional obstacle avoidance algorithms are difficult to independently plan a reasonable route under quantitative rules, while the general reinforcement learning methods are difficult to converge quickly in large and complex environment. To solve these problems, we propose a threshold deep Q network (T-DQN) algorithm, by adding long short-term memory (LSTM) network on basis of deep Q network (DQN), to save training information, and setting proper threshold value of experience replay pool to accelerate convergence. We conducted simulation experiments in different sizes grid, and the results show T-DQN method can converge to optimal path quickly, compared with the Q-learning and DQN, the number of convergence episodes is reduced by 69.1%, and 24.8%, respectively. The threshold mechanism reduces overall convergence steps by 41.1%. We also verified the algorithm in Unity 3D reinforcement learning simulation platform to investigate the completion of obstacle avoidance tasks under complex maps, the experiment results show that the algorithm can realize detailed obstacle avoidance and intelligent safe navigation.
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图 6 10 × 10栅格地图下采用T-DQN训练后的路径结果
Fig. 6 Path results after T-DQN training under 10 × 10 grid map
图 7 20 × 20栅格地图下采用T-DQN训练后的路径结果
Fig. 7 Path results after T-DQN training under 20 × 20 grid map
图 8 30 × 30栅格地图下采用T-DQN训练后的路径结果
Fig. 8 Path results after T-DQN training under 30 × 30 grid map
图 9 4种算法分别在10 × 10、20 × 20、30 × 30栅格地图下的平均回报值对比
Fig. 9 Comparison of the average return values of 4 algorithms under 10 × 10, 20 × 20, 30 × 30 grid maps
图 13 无人艇全局/局部路径规划仿真运动轨迹对比
Fig. 13 Comparison of global/local simulation trajectories of USV
表 1 4种算法收敛步数对比
Table 1 Comparison of convergence steps of 4 algorithms
算法 10 × 10
栅格地图20 × 20
栅格地图30 × 30
栅格地图Q-learning 888 > 2000 > 2000 DQN 317 600 > 2000 LSTM + DQN 750 705 850 T-DQN 400 442 517 
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