A reinforcement learning approach for UAV target searching and tracking

作者：Wang, Tian; Qin, Ruoxi; Chen, Yang; Snoussi, Hichem; Choi, Chang^*

来源：Multimedia Tools and Applications, 2019, 78(4): 4347-4364.

DOI：10.1007/s11042-018-5739-5

• Trajectory planning
• Cooperative object searching and tracking
• Reinforcement learning

Owing to the advantages of Unmanned Aerial Vehicle (UAV), such as the extendibility, maneuverability and stability, multiple UAVs are having more and more applications in security surveillance. The object searching and trajectory planning become the important issues of uninterrupted patrol. We propose an online distributed algorithm for tracking and searching, while considering the energy refueling at the same time. The quantum probability model which describes the partially observable target positions is proposed. Moreover, the upper confidence tree algorithm is derived to resolve the best route, with the assistance of teammate learning model which handles the nonstationary problems in distributed reinforcement learning. Experiments and the analysis of the different situations show that the proposed scheme performs favorably.

• 出版日期2019-2
• 单位北京航空航天大学