상세정보
학술대회
Indoor Path Planning for an Unmanned Aerial Vehicle via Curriculum Learning
- 저자
- 박종민, 장수영, 신영훈
- 발행일
- 202110
- 출처
- International Conference on Control, Automation and Systems (ICCAS) 2021, pp.1-5
- 협약과제
- 21ZR1100, 자율적으로 연결·제어·진화하는 초연결 지능화 기술 연구, 박준희
- 초록
- In this study, reinforcement learning was applied to learning two-dimensional path planning including obstacle avoidance by unmanned aerial vehicle (UAV) in an indoor environment. The task assigned to the UAV was to reach the goal position in the shortest amount of time without colliding with any obstacles. Reinforcement learning was performed in a virtual environment created using Gazebo, a virtual environment simulator, to reduce the learning time and cost. Curriculum learning, which consists of two stages was performed for more efficient learning. As a result of learning with two reward models, the maximum goal rates achieved were 71.2% and 88.0%.
- KSP 제안 키워드
- Curriculum learning, Efficient learning, Indoor Environment, Learning time, Obstacle Avoidance, Reinforcement Learning(RL), Virtual environment, an unmanned aerial vehicle, path planning, two-dimensional(2D)