PATH PLANNING METHOD AND SYSTEM BASED ON COMBINATION OF SAFETY EVACUATION SIGNS AND REINFORCEMENT LEARNING

摘要

The present disclosure provides a path planning method and system based on a combination of safety evacuation signs and reinforcement learning. The path planning method comprises: establishing and rasterizing a two-dimensional simulation scenario model, and initializing obstacles, agents and safety evacuation signs in the two-dimensional simulation scenario model; and performing path planning in combination with the safety evacuation signs and a Q-Learning algorithm, specifically: initializing Q values corresponding to respective agents in a Q value table to 0; acquiring state information of each agent at the current moment, calculating a corresponding reward, and selecting an action having a corresponding large Q value to move each agent; calculating an instant reward of each agent moved to the new location, updating the Q value table, judging whether the Q value table converges, and if so, obtaining an optimal path sequence; otherwise, receiving and aggregating input environmental information sent by each agent and its corresponding state, action, reward and output environmental information, then distributing the aggregated information to each agent, and continuing to move each agent.