Evolutionary Reinforcement Learning

Abstract

Recent research in artificial intelligence potentially provides solutions to the challenging problem of fault-tolerant and robust flight control. This paper proposes a novel Safety-Informed Evolutionary Reinforcement Learning algorithm (SERL), which combines Deep Reinforcement Learning (DRL) and neuroevolution to optimize a population of nonlinear control policies. Using SERL, the work has trained agents to provide attitude tracking on a high-fidelity nonlinear fixed-wing aircraft model. Compared to a state-of-the-art DRL solution, SERL achieves better tracking performance in nine out of ten cases, remaining robust against faults and changes in flight conditions, while providing smoother action signals.