南京航空航天大学学报2024，Vol.56Issue(2)：364-374,11.DOI:10.16356/j.1005-2615.2024.02.020
基于Q-learning的搜救机器人自主路径规划
Q-learning Based Autonomous Path Planning for Search and Rescue Robots
摘要
Abstract
When man-made or natural disasters occur suddenly,the rapid deployment of search and rescue(SAR)robots is crucial for saving lives.To accomplish rescue tasks,SAR robots need to autonomously plan paths in continuously dynamic and unknown environments to reach the rescue target locations.This paper proposes a sensor configuration scheme for SAR robots,applying a Q-learning algorithm based on Q-table and neural networks to achieve autonomous control of SAR robots.It addresses the challenge of path planning in unknown environments,specifically how to avoid static and dynamic obstacles.Balancing the exploration and exploitation during the training process is one of the challenges in reinforcement learning.This paper introduces a mixed optimization method for dynamically selecting search strategies,building upon greedy search and Boltzmann search.Simulations are conducted using MATLAB,and the results indicate that the proposed method is feasible and effective.SAR robots equipped with the sensor configuration can effectively respond to environmental changes,reaching target locations while successfully avoiding both static and dynamic obstacles.关键词
搜救机器人/路径规划/传感器配置/Q-learning/神经网络Key words
search and rescue(SAR)robot/path planning/sensor configuration/Q-learning/neural network分类
信息技术与安全科学引用本文复制引用
褚晶,邓旭辉,岳颀..基于Q-learning的搜救机器人自主路径规划[J].南京航空航天大学学报,2024,56(2):364-374,11.基金项目
国家自然科学基金(61703336) （61703336）
陕西省自然科学基金(2023-JC-QN-0727). （2023-JC-QN-0727）
