基于确定性策略搜索的无人机协同路径规划算法

Deterministic-strategy-search-based algorithm for UAV cooperative path planning

多无人机协同路径规划技术是无人机群突破防御执行协同作战任务的关键。针对多无人机突破敌方封锁进行协同作战的任务场景,提出了一种基于多智能体确定性策略搜索的无人机协同路径规划算法。首先对无人机协同路径规划问题中涉及的无人机动力学模型、协同约束和战场环境威胁进行了分析,建立了多机协同路径规划问题模型;接着,结合无人机协同路径规划问题的特性,设计了会合任务下无人机协同路径规划算法;基于多智能体确定性策略搜索算法,设计了网络结构和联合状态奖励函数,进而给出一种会合任务下的多无人机协同路径规划算法。仿真结果表明了所提设计算法的有效性。

The cooperative path planning technology of multi-UAV is crucial for UAV groups to break through defense and execute cooperative combat tasks.This article proposes a collaborative path planning algorithm for unmanned aerial vehicles(UAVs)based on multi-agent deterministic strategy search,targeting the task scenario of multiple UAVs breaking through enemy blockades for collaborative operations.Firstly,the unmanned maneuvering mechanics model,collaborative con-straints,and battlefield environmental threats involved in the unmanned aerial vehicle(UAV)coop-erative path planning problems are analyzed,and a multi UAVs cooperative path planning problem model is established.Subsequently,a UAV collaborative path planning algorithm under meeting and task conditions is designed based on the characteristics of the UAV collaborative path planning prob-lem.Based on the multi-agent deterministic strategy search algorithm,the network structure and joint state reward function are designed,and then a multi-UAV cooperative path planning algorithm under the task is given.The simulation results demonstrate that the effectiveness of the algorithm de-signed in this paper.