Level Curve Tracking via Robust RL-Guided Model Predictive Control  

作　　者：Zhuo Li Yunlong Guo Gang Wang Wei Chen 

机构地区：[1]the State Key Laboratory of Autonomous Intelligent Unmanned Systems,School of Automation,Beijing Institute of Technology,Beijing 100081,China [2]the Beijing Institute of Technology Chongqing Innovation Center,Chongqing 401120,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第12期2512-2514,共3页自动化学报(英文版)

基　　金：supported by the National Science and Technology Major Project(2022ZD0119302);the National Natural Science Foundation of China(62173034,U23B 2059,62088101,62303054)。

摘　　要：Dear Editor,This letter investigates the level curve tracking problem of unknown scalar fields using an unmanned aerial vehicle(UAV)and presents a robust reinforcement learning(RL)-guided model predictive control(MPC)scheme for the UAV.Specifically,we formulate the MPC trajectory tracking problem,wherein an RL-based trajectory planning algorithm provides the reference trajectory to guide the UAV towards the desired concentration.

关 键 词：LETTER DESIRED SCHEME 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]