Deep Reinforcement Learning-Based 3D Trajectory Planning for Cellular Connected UAV

Author:

Liu Xiang1ORCID,Zhong Weizhi1,Wang Xin1,Duan Hongtao2,Fan Zhenxiong2,Jin Haowen1,Huang Yang1,Lin Zhipeng1ORCID

Affiliation:

1. Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

2. The State Radio Monitoring Center of China, Beijing 102609, China

Abstract

To address the issue of limited application scenarios associated with connectivity assurance based on two-dimensional (2D) trajectory planning, this paper proposes an improved deep reinforcement learning (DRL) -based three-dimensional (3D) trajectory planning method for cellular unmanned aerial vehicles (UAVs) communication. By considering the 3D space environment and integrating factors such as UAV mission completion time and connectivity, we develop an objective function for path optimization and utilize the advanced dueling double deep Q network (D3QN) to optimize it. Additionally, we introduce the prioritized experience replay (PER) mechanism to enhance learning efficiency and expedite convergence. In order to further aid in trajectory planning, our method incorporates a simultaneous navigation and radio mapping (SNARM) framework that generates simulated 3D radio maps and simulates flight processes by utilizing measurement signals from the UAV during flight, thereby reducing actual flight costs. The simulation results demonstrate that the proposed approach effectively enable UAVs to avoid weak coverage regions in space, thereby reducing the weighted sum of flight time and expected interruption time.

Funder

Key Technologies R&D Program of Jiangsu

Key R&D Plan of Jiangsu Province

Publisher

MDPI AG

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