Representation Enhancement-Based Proximal Policy Optimization for UAV Path Planning and Obstacle Avoidance

Table 2

Optimization parameters of PPO.

Parameter	Value
	0.97
	0.2
-step	3
Actor iteration	10
Critic iteration	10
Actor learning rate	1.0-4
Critic learning rate	1.0-4
Optimizer	Adam
Reward discount factor	0.9