计算机工程与应用2019，Vol.55Issue(8)：34-39,6.DOI:10.3778/j.issn.1002-8331.1810-0186
基于stackelberg多步博弈的无人机协同搜索路径规划
Path Planning of Multi-UAVs Cooperative Search Based on Stackelberg Equilibrium
摘要
Abstract
In view of the limitation that only one side of UAVs and targets has long-distance detection capability in past studies, it can’t reflect the two-sides game relation of the battlefield environment. In response to this deficiency, this paper proposes a multi-step game strategy based on the stackelberg equilibrium and multi-step prediction, which realizes the game search with the long-distance detection capability. The path profit function is created, both sides can select the corre-sponding function according to the game state at different moments, which realizes the dynamic path planning of the UAVs. The simulation results show that the proposed strategy is fully applicable to the game model of this paper and has higher search efficiency than the greedy strategy, greatly improving target capture rate.关键词
无人机/目标搜索/博弈/动态路径规划Key words
unmannned aerial vehicle/ target search/ games/ dynamic path planning分类
信息技术与安全科学引用本文复制引用
王瑞安,魏文军..基于stackelberg多步博弈的无人机协同搜索路径规划[J].计算机工程与应用,2019,55(8):34-39,6.基金项目
陕西省重点学科资助项目(No.107-00X901). （No.107-00X901）
