CN CN107450593A
The invention relates to an unmanned aerial vehicle (UAV) autonomous navigation method and system capable of being applied to a large-scale unfamiliar complex environment. The method includes the steps of obtaining the state of a UAV by using sensing equipment and positioning equipment of the UAV; then determining a control vector of the UAV; determining a revenue function according to the state of the UAV and the environment in which the UAV is located; performing deep enhanced learning based on the revenue function to train a control function from the UAV state mapping to control; and by using the control function through training, generating a corresponding control instruction according to the state of the UAV and controlling the autonomous navigation of the UAV in a large-scale unknown complex scene. According to the invention, a navigation task can be independently accomplished only by using the perception information and position information of the UAV on the surrounding environment and the adaptive control of the UAV in a large-scale unknown complex environment is realized.
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