Sensor Path Planning Using Reinforcement Learning

摘要

Reinforcement learning is the problem of autonomously learning a policy guided only by a reward function. We evaluate the performance of the Proximal Policy Optimization (PPO) reinforcement learning algorithm on a sensor management task and study the influence of several design choices about the network structure and reward function. The chosen sensor management task is optimizing the sensor path to speed up the localization of an emitter using only bearing measurements. Furthermore, we discuss generic advantages and challenges when using reinforcement learning for sensor management.