.png){kind=icon}
返回
Explainable Deep Reinforcement Learning for UAV autonomous path planning
.png){kind=icon}
PRE
AI
DOI：10.1016/j.ast.2021.107052.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Autonomous navigation in unknown environment is still a hard problem for small Unmanned Aerial Vehicles (UAVs). Recently, some neural network-based methods are proposed to tackle this problem, however, the trained network is opaque, non-intuitive and difficult for people to understand, which limits the real-world application. In this paper, a novel explainable deep neural network-based path planner is proposed for quadrotor to fly autonomously in unknown environment. The navigation problem is modelled as a Markov Decision Process (MDP) and the path planner is trained using Deep Reinforcement Learning (DRL) method in simulation environment. To get better understanding of the trained model, a novel model explanation method is proposed based on the feature attribution. Some easy-to-interpret textual and visual explanations are generated to allow end-users to understand what triggered a particular behaviour. Moreover, some global analyses are provided for experts to evaluate and improve the trained network. Finally, real-world flight tests are conducted to illustrate that our path planner trained in the simulation is robust enough to be applied in the real environment directly. (C) 2021 Elsevier Masson SAS. All rights reserved.
Keyword:
Unmanned Aerial Vehicles (UAVs)
Autonomous navigation
Deep Reinforcement Learning (DRL)
Explainable AI
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
5.8
论文数:
1.0W
被引数:
3.0W
机构
引用论文
R-ADVANCE: Rapid Adaptive Prediction for Vision-based Autonomous Navigation, Control, and Evasion
PREAI
分享收藏Study of bi-directional buck-boost converter topologies for application in electrical vehicle motor drives应用于电动汽车电机驱动的双向buck-boost变换器拓扑研究
PREAI
分享收藏分享收藏Tightly coupled integrated navigation system via factor graph for UAV indoor localization基于因子图的紧耦合组合导航系统在无人机室内定位中的应用
OAAI
OAAI分享收藏The effects of gloves on psychomotor skills acquisition among dental students手套对牙科学生心理运动技能习得的影响
PREAI
分享收藏GCS-Pupil Score Has a Stronger Association with Mortality and Poor Functional Outcome than GCS Alone in Pediatric Severe Traumatic Brain Injury在小儿严重创伤性脑损伤中，GCS-瞳孔评分与死亡率和不良功能结局的相关性比单独使用GCS更强
PREAI
分享收藏Impact of drone delivery on sustainability and cost: Realizing the UAV potential through vehicle routing optimization.png)
APPLIED ENERGY
APPLIED ENERGYIF11
PREAI
分享收藏分享收藏An Overview of Small Unmanned Aerial Vehicles for Air Quality Measurements: Present Applications and Future Prospectives用于空气质量测量的小型无人机概述: 当前应用和未来展望SENSORSOAAI
SENSORSIF3.5
OAAI分享收藏
查看更多内容