风扰下无人机栖落机动的强化学习控制设计

张威振, 何真, 汤张帆

Reinforcement Learning Control Design for Perching Maneuver of Unmanned Aerial Vehicles with Wind Disturbances

ZHANG Weizhen, HE Zhen, TANG Zhangfan

图5 PPO算法框架

Fig.5 Framework of PPO algorithm