摘要
自主着舰是未来舰载无人机面临的重要难题与关键技术.基于TD3算法结合舰载飞机六自由度运动以及航空母舰运动模型,构建了交互式深度强化学习仿真环境.针对典型海况进行了舰载无人机自主着舰训练,仿真训练过程中综合考虑海况以及航空母舰纵荡、横荡和沉浮3个线扰动,滚转、俯仰和偏航3个角扰动等因素,建立对应简化运动模型;基于某型飞机气动数据进行气动力建模,建立六自由度运动学/动力学模型;基于TD3强化学习算法,结合前馈型深度神经网络技术,在高性能GPU工作站上建立舰载机着舰交互训练环境.通过某型舰载无人机在无模型环境中“试错”训练,验证了AI技术在舰载无人机自主着舰控制中的可行性.
Autonomous landing is an important problem and a key technology for future Carrier-borne UAV.Based on the TD3 algorithm,combined with the 6-DOF motion model of carrier aircraft and the motion model of aircraft carrier,an interactive deep reinforcement learning simulation environment is constructed.In the process of simulation training,the corresponding simplified motion model is established by considering the sea conditions,three line disturbances of aircraft carrier including surge,sway and heave,and three angular disturbances of roll,pitch and yaw.Based on the aerodynamic data of a certain type of aircraft,the aerodynamic model is established,and the six degree of freedom dynamics model is also established.Based on TD3 reinforcement learning algorithm,this paper further introduces an auxiliary network,an adaptive variance and learning step adjustment algorithm to accelerate convergence and improve training stability.Furthermore,combined with feed forward deep neural network technology,an interactive training environment for carrier based aircraft landing is established on high performance GPU workstation.Through the"trial and error"training of a certain type of Carrier-borne UAV in interactive environment,the feasibility of AI technology in Carrier-borne UAV autonomous landing control is verified.
作者
黄江涛
刘刚
周攀
章胜
杜昕
Huang Jiangtao;Liu Gang;Zhou Pan;Zhang Sheng;Du Xin(Aerospace Technology Institute,China Aerodynamics Research and Development Center,Mianyang 621000,China)
出处
《南京师范大学学报（工程技术版）》
CAS
2022年第3期63-71,共9页
Journal of Nanjing Normal University(Engineering and Technology Edition)
关键词
强化学习
舰载无人机
智能着舰
舵偏指令
深度神经网络
reinforcement learning
carrier-borne UAV
intelligent carrier landing
control surface command
deep neural network
