Energy-Aware Hierarchical Reinforcement Learning Based on the Predictive Energy Consumption Algorithm for Search and Rescue Aerial Robots in Unknown Environments

摘要

Aerial robots (drones) offer critical advantages in missions where human participation is impeded due to hazardous conditions. Among these, search and rescue missions in disaster-stricken areas are particularly challenging due to the dynamic and unpredictable nature of the environment, often compounded by the lack of reliable environmental models and limited ground system communication. In such scenarios, autonomous aerial robots’ operation becomes essential. This paper introduces a novel hierarchical reinforcement learning-based algorithm to address the critical limitation of the aerial robot’s battery life. Central to our approach is the integration of a long short-term memory (LSTM) model, designed for precise battery consumption prediction. This model is incorporated into our HRL framework, empowering a high-level controller to set feasible and energy-efficient goals for a low-level controller. By optimizing battery usage, our algorithm enhances the aerial robot’s ability to deliver rescue packs to multiple survivors without the frequent need for recharging. Furthermore, we augment our HRL approach with hindsight experience replay at the low level to improve its sample efficiency.