Unmanned Aerial Vehicle Path Planning in Complex Dynamic Environments Based on Deep Reinforcement Learning

Abstract

In this paper, an enhanced deep reinforcement learning approach is presented for unmanned aerial vehicles (UAVs) operating in dynamic and potentially hazardous environments. Initially, the capability to discern obstacles from visual data is achieved through the application of the Yolov8-StrongSort technique. Concurrently, a novel data storage system for deep Q-networks (DQN), named dynamic data memory (DDM), is introduced to hasten the learning process and convergence for UAVs. Furthermore, addressing the issue of UAVs’ paths veering too close to obstacles, a novel strategy employing an artificial potential field to adjust the reward function is introduced, which effectively guides the UAVs away from proximate obstacles. Rigorous simulation tests in an AirSim-based environment confirm the effectiveness of these methods. Compared to DQN, dueling DQN, M-DQN, improved Q-learning, DDM-DQN, EPF (enhanced potential field), APF-DQN, and L1-MBRL, our algorithm achieves the highest success rate of 77.67%, while also having the lowest average number of moving steps. Additionally, we conducted obstacle avoidance experiments with UAVs with different densities of obstacles. These tests highlight fast learning convergence and real-time obstacle detection and avoidance, ensuring successful achievement of the target.