Abstract
With the application and development of UAV technology and navigation and positioning technology, higher requirements are put forward for UAV maneuvering obstacle avoidance ability and real-time route planning. In this paper, for the problem of real-time UAV route planning in the unknown environment, we combine the ideas of artificial potential field method to modify the state observation and reward function, which solves the problem of sparse rewards of reinforcement learning algorithm, improves the convergence speed of the algorithm, and improves the generalization of the algorithm by step-by-step training based on the ideas of curriculum learning and transfer learning according to the difficulty of the task. The simulation results show that the improved SAC algorithm has fast convergence speed, good timeliness and strong generalization, and can better complete the UAV route planning task.