The invention discloses a
water body cleaning equipment path optimization method based on deep
reinforcement learning, and the method comprises the following steps: S1, collecting
water body environment data through a sensor, and carrying out the preprocessing; s2, establishing a
state space and an action space for path optimization, and constructing a reward mechanism; s3, carrying out
feature extraction on the preprocessed data by adopting a Transform network; s4, training the strategy network and the
value network by using an improved
trust region strategy optimization
algorithm, optimizing an update step length of the strategy network based on KL
divergence constraint, and optimizing a path planning strategy based on a strategy
gradient method; s5, performing path planning by using the trained strategy network and
value network; and S6, calculating the
energy consumption of the
water body cleaning equipment, and adjusting the
operation mode or operation path of the water body cleaning equipment. According to the method, the path planning of the water body cleaning equipment is optimized by combining Transform and an improved
trust region strategy optimization
algorithm, and the method has the advantages of being high in environmental adaptability, low in
energy consumption, high in cleaning efficiency and high in operation stability.