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2 Actor-Critic双网络架构示意图

Fig.2 Schematic diagram of Actor-Critic network