DreamLander:基于6自由度世界模型的强化学习行星着陆器
DreamLander: A 6-DOF World Model based Reinforcement Learning Planetary Lander
George Nehma, Patrick Quinn, Madhur Tiwari, Camilo Riano-Rios
AI 速读 基于摘要
作者提出基于DreamerV3的模型强化学习算法DreamLander,用于6自由度进入下降着陆问题的制导与控制生成。
cs.RO · math.OC
查看原文摘要
Soft powered descent landings are becoming evermore important in the field of space exploration and scientific advancement, because of their ability to deliver mission critical payloads, both highly accurately and safely. The high efficiency restriction on planetary landings due to the severely limited fuel supply results in the need for optimal guidance trajectories and control. Model based reinforcement learning is proving to be an important tool in simplifying the highly complex process of generating optimal guidance trajectories and control. In this work, we present DreamLander, a state of the art model based reinforcement learning algorithm based on DreamerV3, to generate optimal guidance and control for a realistic 6 degree of freedom entry descent landing problem. The model based approach creates a sample efficient and highly generalizable model that can be applied to a variety of scenarios whilst maintaining a high degree of accuracy, landing within 2 meters of the designated landing zone, and with velocity norm less than 0.3 meters per second. DreamLander makes use of state sensor observations, making progress toward End-to-End solutions of the Entry Descent Landing problem.