Research on Obstacle Avoidance Algorithm of UAVs Reinforcement Learning based on Vision

In recent years, the combination of deep reinforcement learning and unmanned aerial vehicle (UAV) to achieve autonomous flight has been a hot research field. In this paper, an obstacle avoidance navigation algorithm (PA-SAC) based on priority experience buffer pool (PEBP), attention, and Soft-Actor-Critic (SAC) is proposed to solve the continuous space obstacle avoidance navigation problem of UAVs by using a deep reinforcement learning algorithm. In the two simulation experiments, the success rate of the PA-SAC algorithm was 95.6% in the known environment and 73% in the unknown environment. These results demonstrate that the PA-SAC algorithm can achieve autonomous obstacle avoidance for UAVs with deep image input.