End-to-end autonomous landing control method for unmanned aerial vehicle and unmanned ship collaborative platform

• Main Authors: DONG BOTAO, ZENG QING, HAN PENG, ZHANG WEIDONG, ZHANG YONGHUI, XIE WEI, DONG CHAO
• Format: Patent
• Language: Chinese; English
• Published: 03.05.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to an end-to-end autonomous landing control method for an unmanned aerial vehicle and unmanned ship collaborative platform. The method comprises the following steps: step 1, constructing an unmanned aerial vehicle and unmanned ship platform autonomous landing simulation environment according to respective kinetic models of an unmanned aerial vehicle and an unmanned ship; step 2, establishing an MDP model for the gradual movement stage of the unmanned aerial vehicle to the unmanned ship, and setting a reward function; step 3, establishing a POMDP model in a tracking landing stage of the unmanned plane to the unmanned ship, and setting a reward function; step 4, based on an Actor-Critic framework, respectively establishing respective action networks and evaluation networks of the two stages for the unmanned aerial vehicle; 5, performing optimization training on parameters of the action network and the evaluation network of the two stages based on a PPO algorithm; 6, the optimal action netw