UAV navigation in high dynamic environments: A comparison

of several deep reinforcement learning approaches

Anirban Bhowmick

Abstract— Ever since Unmanned Aerial Vehi- III. Szenario

cle(UAV) technology came into existence, One signif-
icant concern was the navigation of the UAV. UAV
Describe the setting for your experiment.
navigation is aims at escorting a UAV to destination
in a collision free and efficient path. UAV navigation IV. Approach
is very critical in autonomous mission in harsh and
Describe the approach used in the experiment.
unpredictable environments. Mnay Deep Reinforce-
ment Learning(DRL) methods has shown promising
results when it comes to UAV navigation. But most V. Experiment
of them are tested in static environments and in high
Describe the execution of the experiment.
dynamic environments they suffer from convergence
issues due to massive interactive data from numerous
obstacles moving randomly and fast. In this paper we VI. Results
will talk about an modified DRL approach to address
Describe the results of the experiment
these issues. The DRL framework is a distributed one
that decomposes the UAV navigation task into two
simpler sub-tasks, each of which is solved through VII. Evaluation
the designed Long Short-Term Memory(LSTM) based
Evaluate the results.
DRL network. Each of the sub-networks are fed by
interactive data. Furthermore, a clipped DRL loss *This work was funded by the EU Horizon 2020 Framework
function closely stacks the two sub-solutions into an
integral one for the UAV navigation problem. Finally
we compare the performance of the method on aspects VIII. Conclusion
of convergence and effectiveness with other state-of- Conclude your findings. And don’t forget to check your
the art DRL methods(Minh V et al. [1]). citations[2].

I. Introduction References
Introduce your topic. [1] Mnih V, Kavukcuoglu K, Silver D. Human-level
control through deep reinforcement learning. Nature
2015;518(7540):529.
II. Basics [2] G. O. Young, “Synthetic structure of industrial plastics”, in
Plastics, 2nd ed. vol. 3, J. Peters, Ed. New York: McGraw-
Briefly talk about the basic knowledge required for this Hill, 1964, pp. 15–64.
paper.
Eidesstattliche Erklärung
Hiermit versichere ich, Anirban Bhowmick, an Eides statt, dass ich die vorliegende
Seminararbeit mit dem Titel UAV navigation in high dynamic environments:
A comparison of several deep reinforcement learning approaches, sowie die
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Die Arbeit wurde in dieser oder ähnlicher Form noch nicht veröffentlicht, einer anderen
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Declaration of an Oath
Hereby I, Anirban Bhowmick, declare that I have authored this thesis, titled UAV
navigation in high dynamic environments: A comparison of several deep reinforcement
learning approaches, and the presentation slides for the associated oral presentation
independently and unaided. Furthermore, I confirm that I have not used other than
the declared sources / resources.
I have explicitly marked all material which has been quoted either literally or by content
from the used sources.
This thesis, in same or similar form, has not been published, presented to an examination
board or submitted as an exam or course achievement.

Hamburg, January 16, 2021

Anirban Bhowmick