Research on Path Planning of Agricultural UAV Based on Improved Deep Reinforcement Learning
Haitao Fu | Zheng Li | Weijian Zhang | Yuxuan Feng | Li Zhu | Xu Fang | Jian Li
Traditional manual or semi-mechanized pesticide spraying methods often suffer from issues such as redundant coverage and cumbersome operational steps, which fail to meet current pest and disease control requirements. Therefore, there is an urgent need to develop an efficient pest control technology system. This paper builds upon the Deep Q-Network algorithm by integrating the Bi-directional Long Short-Term Memory structure to propose the BL-DQN algorithm. Based on this, a path planning framework for pest and disease control using agricultural drones is designed. This framework comprises four modules: remote sensing image acquisition via the Google Earth platform, task area segmentation using a deep learning U-Net model, rasterized environmental map creation, and coverage path planning. The goal is to enhance the efficiency and safety of pesticide application by drones in complex agricultural environments. Through simulation experiments, the BL-DQN algorithm achieved a 41.68% improvement in coverage compared with the traditional DQN algorithm. The repeat coverage rate for BL-DQN was 5.56%, which is lower than the 9.78% achieved by the DQN algorithm and the 31.29% of the Depth-First Search (DFS) algorithm. Additionally, the number of steps required by BL-DQN was only 80.1% of that of the DFS algorithm. In terms of target point guidance, the BL-DQN algorithm also outperformed both DQN and DFS, demonstrating superior performance.
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