Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical challenge.In particular,traffic roundabouts bring a set of challenges to autonom...Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical challenge.In particular,traffic roundabouts bring a set of challenges to autonomous driving due to the unpredictable entry and exit of vehicles,susceptibility to traffic flow bottlenecks,and imperfect data in perceiving environmental information,rendering them a vital issue in the practical application of autonomous driving.To address the traffic challenges,this work focused on complex roundabouts with multi-lane and proposed a Perception EnhancedDeepDeterministic Policy Gradient(PE-DDPG)for AutonomousDriving in the Roundabouts.Specifically,themodel incorporates an enhanced variational autoencoder featuring an integrated spatial attention mechanism alongside the Deep Deterministic Policy Gradient framework,enhancing the vehicle’s capability to comprehend complex roundabout environments and make decisions.Furthermore,the PE-DDPG model combines a dynamic path optimization strategy for roundabout scenarios,effectively mitigating traffic bottlenecks and augmenting throughput efficiency.Extensive experiments were conducted with the collaborative simulation platform of CARLA and SUMO,and the experimental results show that the proposed PE-DDPG outperforms the baseline methods in terms of the convergence capacity of the training process,the smoothness of driving and the traffic efficiency with diverse traffic flow patterns and penetration rates of autonomous vehicles(AVs).Generally,the proposed PE-DDPGmodel could be employed for autonomous driving in complex scenarios with imperfect data.展开更多
Deep deterministic policy gradient(DDPG)has been proved to be effective in optimizing particle swarm optimization(PSO),but whether DDPG can optimize multi-objective discrete particle swarm optimization(MODPSO)remains ...Deep deterministic policy gradient(DDPG)has been proved to be effective in optimizing particle swarm optimization(PSO),but whether DDPG can optimize multi-objective discrete particle swarm optimization(MODPSO)remains to be determined.The present work aims to probe into this topic.Experiments showed that the DDPG can not only quickly improve the convergence speed of MODPSO,but also overcome the problem of local optimal solution that MODPSO may suffer.The research findings are of great significance for the theoretical research and application of MODPSO.展开更多
针对智能反射面(IRS, intelligent reflecting surface)辅助的多输入单输出(MISO, multiple input singleoutput)无线携能通信(SWIPT, simultaneous wireless information and power transfer)系统,考虑基站最大发射功率、IRS反射相移...针对智能反射面(IRS, intelligent reflecting surface)辅助的多输入单输出(MISO, multiple input singleoutput)无线携能通信(SWIPT, simultaneous wireless information and power transfer)系统,考虑基站最大发射功率、IRS反射相移矩阵的单位膜约束和能量接收器的最小能量约束,以最大化信息传输速率为目标,联合优化了基站处的波束成形向量和智能反射面的反射波束成形向量。为解决非凸优化问题,提出了一种基于深度强化学习的深度确定性策略梯度(DDPG, deep deterministic policy gradient)算法。仿真结果表明,DDPG算法的平均奖励与学习率有关,在选取合适的学习率的条件下,DDPG算法能获得与传统优化算法相近的平均互信息,但运行时间明显低于传统的非凸优化算法,即使增加天线数和反射单元数,DDPG算法依然可以在较短的时间内收敛。这说明DDPG算法能有效地提高计算效率,更适合实时性要求较高的通信业务。展开更多
The deep deterministic policy gradient(DDPG)algo-rithm is an off-policy method that combines two mainstream reinforcement learning methods based on value iteration and policy iteration.Using the DDPG algorithm,agents ...The deep deterministic policy gradient(DDPG)algo-rithm is an off-policy method that combines two mainstream reinforcement learning methods based on value iteration and policy iteration.Using the DDPG algorithm,agents can explore and summarize the environment to achieve autonomous deci-sions in the continuous state space and action space.In this paper,a cooperative defense with DDPG via swarms of unmanned aerial vehicle(UAV)is developed and validated,which has shown promising practical value in the effect of defending.We solve the sparse rewards problem of reinforcement learning pair in a long-term task by building the reward function of UAV swarms and optimizing the learning process of artificial neural network based on the DDPG algorithm to reduce the vibration in the learning process.The experimental results show that the DDPG algorithm can guide the UAVs swarm to perform the defense task efficiently,meeting the requirements of a UAV swarm for non-centralization,autonomy,and promoting the intelligent development of UAVs swarm as well as the decision-making process.展开更多
为提高多无人船编队系统的导航能力,提出了一种基于注意力机制的多智能体深度确定性策略梯度(ATMADDPG:Attention Mechanism based Multi-Agent Deep Deterministic Policy Gradient)算法。该算法在训练阶段,通过大量试验训练出最佳策略...为提高多无人船编队系统的导航能力,提出了一种基于注意力机制的多智能体深度确定性策略梯度(ATMADDPG:Attention Mechanism based Multi-Agent Deep Deterministic Policy Gradient)算法。该算法在训练阶段,通过大量试验训练出最佳策略,并在实验阶段直接使用训练出的最佳策略得到最佳编队路径。仿真实验将4艘相同的“百川号”无人船作为实验对象。实验结果表明,基于ATMADDPG算法的队形保持策略能实现稳定的多无人船编队导航,并在一定程度上满足队形保持的要求。相较于多智能体深度确定性策略梯度(MADDPG:Multi-Agent Depth Deterministic Policy Gradient)算法,所提出的ATMADDPG算法在收敛速度、队形保持能力和对环境变化的适应性等方面表现出更优越的性能,综合导航效率可提高约80%,具有较大的应用潜力。展开更多
基金supported in part by the projects of the National Natural Science Foundation of China(62376059,41971340)Fujian Provincial Department of Science and Technology(2023XQ008,2023I0024,2021Y4019),Fujian Provincial Department of Finance(GY-Z230007,GYZ23012)Fujian Key Laboratory of Automotive Electronics and Electric Drive(KF-19-22001).
文摘Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical challenge.In particular,traffic roundabouts bring a set of challenges to autonomous driving due to the unpredictable entry and exit of vehicles,susceptibility to traffic flow bottlenecks,and imperfect data in perceiving environmental information,rendering them a vital issue in the practical application of autonomous driving.To address the traffic challenges,this work focused on complex roundabouts with multi-lane and proposed a Perception EnhancedDeepDeterministic Policy Gradient(PE-DDPG)for AutonomousDriving in the Roundabouts.Specifically,themodel incorporates an enhanced variational autoencoder featuring an integrated spatial attention mechanism alongside the Deep Deterministic Policy Gradient framework,enhancing the vehicle’s capability to comprehend complex roundabout environments and make decisions.Furthermore,the PE-DDPG model combines a dynamic path optimization strategy for roundabout scenarios,effectively mitigating traffic bottlenecks and augmenting throughput efficiency.Extensive experiments were conducted with the collaborative simulation platform of CARLA and SUMO,and the experimental results show that the proposed PE-DDPG outperforms the baseline methods in terms of the convergence capacity of the training process,the smoothness of driving and the traffic efficiency with diverse traffic flow patterns and penetration rates of autonomous vehicles(AVs).Generally,the proposed PE-DDPGmodel could be employed for autonomous driving in complex scenarios with imperfect data.
文摘Deep deterministic policy gradient(DDPG)has been proved to be effective in optimizing particle swarm optimization(PSO),but whether DDPG can optimize multi-objective discrete particle swarm optimization(MODPSO)remains to be determined.The present work aims to probe into this topic.Experiments showed that the DDPG can not only quickly improve the convergence speed of MODPSO,but also overcome the problem of local optimal solution that MODPSO may suffer.The research findings are of great significance for the theoretical research and application of MODPSO.
文摘针对智能反射面(IRS, intelligent reflecting surface)辅助的多输入单输出(MISO, multiple input singleoutput)无线携能通信(SWIPT, simultaneous wireless information and power transfer)系统,考虑基站最大发射功率、IRS反射相移矩阵的单位膜约束和能量接收器的最小能量约束,以最大化信息传输速率为目标,联合优化了基站处的波束成形向量和智能反射面的反射波束成形向量。为解决非凸优化问题,提出了一种基于深度强化学习的深度确定性策略梯度(DDPG, deep deterministic policy gradient)算法。仿真结果表明,DDPG算法的平均奖励与学习率有关,在选取合适的学习率的条件下,DDPG算法能获得与传统优化算法相近的平均互信息,但运行时间明显低于传统的非凸优化算法,即使增加天线数和反射单元数,DDPG算法依然可以在较短的时间内收敛。这说明DDPG算法能有效地提高计算效率,更适合实时性要求较高的通信业务。
基金supported by the Key Research and Development Program of Shaanxi(2022GY-089)the Natural Science Basic Research Program of Shaanxi(2022JQ-593).
文摘The deep deterministic policy gradient(DDPG)algo-rithm is an off-policy method that combines two mainstream reinforcement learning methods based on value iteration and policy iteration.Using the DDPG algorithm,agents can explore and summarize the environment to achieve autonomous deci-sions in the continuous state space and action space.In this paper,a cooperative defense with DDPG via swarms of unmanned aerial vehicle(UAV)is developed and validated,which has shown promising practical value in the effect of defending.We solve the sparse rewards problem of reinforcement learning pair in a long-term task by building the reward function of UAV swarms and optimizing the learning process of artificial neural network based on the DDPG algorithm to reduce the vibration in the learning process.The experimental results show that the DDPG algorithm can guide the UAVs swarm to perform the defense task efficiently,meeting the requirements of a UAV swarm for non-centralization,autonomy,and promoting the intelligent development of UAVs swarm as well as the decision-making process.
