Dağıtık pekiştirmeli öğrenme tabanlı çoklu insansız hava aracı ile ilgi çekici nokta kapsama

Yıl 2024, Cilt: 39 Sayı: 1, 563 - 576, 21.08.2023

Aydın Çetin , Fatih Aydemir

https://doi.org/10.17341/gazimmfd.1172120

Öz

Mobil araçlar haritalama, trafiğin izlenmesi, arama-kurtarma operasyonları gibi çeşitli alan kapsama uygulamalarında yaygın olarak kullanılmaktadır. Kapsama sürecini geliştirmek için uygun konumlandırma modeli ve etkili öğrenme stratejisi gereklidir. Mobil araçlar hareket modeli içeren yönlendirme mekanizması ile dinamik ortamlara uyum sağlayabilir ve en uygun konumları bulabilirler. Konumlandırma sürecinin çok ajanlı mobil sistem temelinde yönetildiği çalışmalarda algılama, veri toplama ve gözetim gibi görevleri birden fazla ajanın işbirlikçi yaklaşım ile tamamlaması gerekir. Öğrenmeye dayalı bu süreç, bir görevi gerçek zamanlı optimize etmeyi öğrenebilen mobil ajanlar vasıtasıyla yürütülebilir. Bu çalışmada, bir grup insansız hava aracının (İHA) öğrenebilen çok ajanlı sistem temelinde modellenerek dinamik ortamda ilgi çekici noktaları (İÇN) etkin şekilde kapsaması hedeflenmektedir. Hedef alan, İÇN kapsamını en üst düzeye çıkarmak ve enerji tüketimini en aza indirmek için ızgaralara ayrıştırılır. Ayrıştırma, hedef alanın konumu ve mobil ajan olarak modellenen İHA’ların iletişim mesafesi göz önünde bulundurularak gerçekleştirilir. Bununla birlikte ızgaralara gidiş planlanması yapan mobil ajanlar çarpışmadan kaçınmayı da öğrenirler. Önerilen yöntem benzetim ortamında test edilmiş ve sonuçlar benzer çalışmalar ile kıyaslanarak sunulmuştur. Sonuçlar, önerilen yöntemin mevcut benzer çalışmalara göre daha iyi performans gösterdiğini ve alan kapsama uygulamaları için uygun olduğunu göstermektedir.

Anahtar Kelimeler

İnsansız Hava Aracı, Çok ajanlı sistem, Pekiştirmeli öğrenme, Dinamik alan kapsama, Izgara Ayrıştırma

Kaynakça

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