计算机应用研究2025，Vol.42Issue(1)：231-235,5.DOI:10.19734/j.issn.1001-3695.2024.07.0207
基于MIX-MAPPO算法的多无人机编队控制
Multiple UAVs formation control based on MIX-MAPPO
摘要
Abstract
Single unmanned aerial vehicles(UAVs)struggle to effectively handle complex multi-task scenarios,whereas UAV swarms exhibit significant advantages in addressing such challenges.This paper proposed a drone swarm model based on the Menger sponge fractal to meet the needs of multi-task scenarios and maintaining formation during swarm operation.The model employed multi-agent proximal policy optimization(MAPPO),proximal policy optimization(PPO),and attention mechanism to train the formation control strategy.The approach simplified the establishment of the drone swarm model by assigning weights to all inputs based on each drone's attention to other drones,which enhanced adaptability in dynamic environments.To address the slow convergence and limited adaptability of the MAPPO algorithm with multiple agents,the paper introduced a Menger sponge fractal-based MIX-MAPPO algorithm.Experimental results demonstrate that this method not only achieves stable forma-tions successfully,but also has significantly faster convergence speed and higher reward values compared to algorithms such as DDPG,PPO,MADDPG,and MAPPO.The MIX-MAPPO algorithm thus proves to be superior in the field of swarm control.关键词
无人机编队/门格海绵结构/注意力机制/集群控制/编队保持Key words
multi-unmanned aerial vehicle formation/Menger sponge structure/attention mechanism/cluster control/for-mation keeping分类
信息技术与安全科学引用本文复制引用
康家境,吴杰宏..基于MIX-MAPPO算法的多无人机编队控制[J].计算机应用研究,2025,42(1):231-235,5.基金项目
国家自然科学基金资助项目(62376165) （62376165）
