### DQN算法在Python中的路径规划实现
#### 使用DQN进行路径规划的关键概念
深度Q网络（DQN）是一种强化学习方法，通过神经网络近似动作价值函数来解决决策问题。对于路径规划任务而言，环境可以被建模成网格世界，在该环境中智能体需找到从起点到终点的最佳路线[^1]。
#### 实现框架选择
为了简化开发过程并提高效率，推荐采用成熟的库如TensorFlow或PyTorch作为基础工具包构建模型。此外，RL-Glue提供了多种编程语言的支持接口，可用于连接不同的组件，但针对特定应用如路径规划，直接利用高级机器学习平台会更加方便快捷[^3]。
#### 示例代码展示
下面给出一段基于PyTorch的简单版DQN用于二维平面内移动机器人路径寻优的基础结构：
```python
import torch
import random
from collections import namedtuple, deque
class DQN(torch.nn.Module):
def __init__(self, input_dim, output_dim):
super(DQN, self).__init__()
self.fc = torch.nn.Sequential(
torch.nn.Linear(input_dim, 64),
torch.nn.ReLU(),
torch.nn.Linear(64, output_dim)
)
def forward(self, x):
return self.fc(x)
Transition = namedtuple('Transition', ('state', 'action', 'next_state', 'reward'))
class ReplayMemory(object):
def __init__(self, capacity):
self.memory = deque([], maxlen=capacity)
def push(self, *args):
"""Save a transition"""
self.memory.append(Transition(*args))
def sample(self, batch_size):
return random.sample(self.memory, batch_size)
def __len__(self):
return len(self.memory)
def select_action(state, policy_net, n_actions, epsilon_start=0.9, eps_end=0.05, decay=200):
global steps_done
sample = random.random()
eps_threshold = eps_end + (epsilon_start - eps_end) * \
math.exp(-1. * steps_done / decay)
steps_done += 1
if sample > eps_threshold:
with torch.no_grad():
# t.max(1) will return largest column value of each row.
# second column on max result is index of where max element was
# found, so we pick action with the larger expected reward.
return policy_net(state).max(1)[1].view(1, 1)
else:
return torch.tensor([[random.randrange(n_actions)]], dtype=torch.long)
# 假设有一个简单的迷宫类 MazeEnv 来表示环境...
env = MazeEnv()
policy_net = DQN(env.observation_space.shape[0], env.action_space.n).to(device)
target_net = DQN(env.observation_space.shape[0], env.action_space.n).to(device)
target_net.load_state_dict(policy_net.state_dict())
target_net.eval()
optimizer = optim.Adam(policy_net.parameters(), lr=LR)
memory = ReplayMemory(MEMORY_CAPACITY)
steps_done = 0
episode_durations = []
for i_episode in range(num_episodes):
state = env.reset()
for t in count():
action = select_action(state, policy_net, env.action_space.n)
next_state, reward, done, _ = env.step(action.item())
memory.push(state, action, next_state, reward)
optimize_model(memory, policy_net, target_net, optimizer)
if done:
episode_durations.append(t + 1)
break
state = next_state
update_target_network(target_net, policy_net, UPDATE_TARGET_FREQUENCY)
```
此段代码展示了如何定义一个基本的DQN架构以及训练循环的一部分逻辑。实际项目中还需要考虑更多细节，比如状态空间的设计、奖励设计等具体因素都会影响最终效果[^4]。
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