Autonomous Navigation of the UAV through Deep Reinforcement Learning with Sensor Perception Enhancement

Table 2

The parameters of ANOAU algorithm.

Parameter name	Value
	0.1
	0.1
	0.01
	10
	3
Learning rate	1.0e^−4
Batch size	32
Optimizer	Adam
Activation function	tanh
Reward discount factor	0.9
N-step	3
of GAE	0.97
of ANOAU	0.2