基于强化学习的改进三维A*算法在线航迹规划

任智, 张栋, 唐硕

Improved three-dimensional A* algorithm of real-time path planning based on reinforcement learning

Zhi REN, Dong ZHANG, Shuo TANG

图10 迭代收敛的收缩因子图

Fig.10 Diagram of shrinkage factor of iterative convergence