Abstract
Obstacle avoidance is very important for UAV flying in unknown environment. In this paper, the UAV’s obstacle avoidance method in unknown environment is proposed from two different view combined with the forward looking perception information of UAV. One is to propose a local real-time planning method from the perspective of optimization. The other is to combined with reinforcement learning to propose a method of avoiding action selection. In this paper, simulation experiments and comparative experiments are carried out to prove the effectiveness of the method.
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