基于DQN的无人机主动捕捉拦阻回收方法

doi:10.7527/S1000-6893.2024.31448

Abstract

Abstract:

The success rate of hooking the cable is one of the key indicators of safety and reliability when recovering a UAV using arresting cables. To address the challenge of improving the success rate with restricted UAV recovery areas provided by vehicle-mounted mobile platform， this paper proposes an active cable engagement method for UAV arresting and recovery. The method enhances the success rate by having the arresting system actively move to the optimal cable engagement position under the guidance of AI computation results. First， a UAV landing and recovery dynamics model is established to calculate the cable engagement failure boundary. The Support Vector Machine （SVM） method is applied to identify the dynamics simulation results and generate a proxy model for UAV cable engagement analysis. Then， the cable-moving process is simplified into a Markov decision process. Using the cable-moving device model as the training environment， a six-degree-of-freedom UAV landing and descent model is employed to generate the dataset， and the cable engagement analysis proxy model is used as the reward function. A Deep Q-Network （DQN） is applied to train a cable-moving strategy that dynamically computes and guides the arresting system to adjust to the optimal engagement position in real time. Simulation results show that with limited recovery space， the proposed method improves the success rate by 29% compared to the traditional passive recovery method. This approach significantly enhances the safety and reliability of UAV landing and recovery， providing new theoretical support and practical solutions for the development of intelligent recovery technology.

Key words: fixed-wing UAV, landing recovery, success rate of hooking cable, deep Q-network (DQN), artificial intelligence (AI)

CLC Number:

V226

Yifeng WANG, Yiming PENG, Long LI, Xiaohui WEI, Hong NIE. DQN-based active arrest and recovery technique for UAVs[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(12): 231448.

Figures/Tables 19

Fig.1

Table 1

Parameters of Dryden airspeed model

干扰类型	高度/m	$L u = L v$ /m	$L w$ /m	$σ u = σ v$ /（m·s^-1）	$σ w$ / （m·s^-1）
1	50	200	50	1.06	0.7
2	50	200	50	2.12	1.4
3	600	533	533	1.5	1.5
4	600	533	533	3.0	3.0

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Table 2

Fig.7

Fig.8

Fig.9

Fig.10

Table 3

Hyperparameters for DQN training models

超参数	数值	超参数	数值
批大小	256	Qnet隐藏层大小	512
学习率	0.001	目标Qnet更新频率	5
折扣率 $γ$	0.9	回放池大小	10⁶
$ϵ$ 衰减率	0.995	$ϵ$ 最小值	0.01

Table 3

Fig.11

Fig.12

Fig.13

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序号	航向落点距索距离/m	航向速度/ （m∙s^-1）	下沉速度/ （m∙s^-1）	钩索情况
1	3.7	23	1.6	1
2	2.3	26	1.6	1
3	1.7	26	1.7	0
4	0.1	25	1.8	1
5	0.5	25	1.7	0
6	0.5	25	1.6	0
7	0.5	26	1.7	1
8	3.5	24	1.7	1
9	4.5	25	1.5	1
10	0.4	25	1.7	1

DQN-based active arrest and recovery technique for UAVs

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序号	航向落点距索距离/m	航向速度/ （m∙s^-1）	下沉速度/ （m∙s^-1）	钩索情况
1	3.7	23	1.6	1
2	2.3	26	1.6	1
3	1.7	26	1.7	0
4	0.1	25	1.8	1
5	0.5	25	1.7	0
6	0.5	25	1.6	0
7	0.5	26	1.7	1
8	3.5	24	1.7	1
9	4.5	25	1.5	1
10	0.4	25	1.7	1

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序号	航向落点距索距离/m	航向速度/ （m∙s^-1）	下沉速度/ （m∙s^-1）	钩索情况
1	3.7	23	1.6	1
2	2.3	26	1.6	1
3	1.7	26	1.7	0
4	0.1	25	1.8	1
5	0.5	25	1.7	0
6	0.5	25	1.6	0
7	0.5	26	1.7	1
8	3.5	24	1.7	1
9	4.5	25	1.5	1
10	0.4	25	1.7	1

序号	航向落点距索距离/m	航向速度/ （m∙s^-1）	下沉速度/ （m∙s^-1）	钩索情况
1	3.7	23	1.6	1
2	2.3	26	1.6	1
3	1.7	26	1.7	0
4	0.1	25	1.8	1
5	0.5	25	1.7	0
6	0.5	25	1.6	0
7	0.5	26	1.7	1
8	3.5	24	1.7	1
9	4.5	25	1.5	1
10	0.4	25	1.7	1