火力与指挥控制2025，Vol.50Issue(2)：29-35,7.DOI:10.3969/j.issn.1002-0640.2025.02.004
基于Stackelberg博弈的巡检无人机路径规划
UAV Path Planning for Inspection Based on Stackelberg Game
摘要
Abstract
In order to solve the problem that only the reachability of the target location is considered in the"Reach-Avoidance"game,and the shortest path is not further considered,a new optimization method based on the combination of stackelberg game and the shortest path is proposed.The shortest flight path of the attacker drone reaching the target point and evading the pursuit is used as the mission reward of the attacker,and the shortest interception path of the defender's drone is regarded as the task reward of the defender,so as to establish the target benefit function of both sides.The improved competitive co-evolution genetic algorithm is used to solve the dynamic decision-making problems in the game process,the parameter selection is updated in each decision-making process of the UAV so as to obtain the flight trajectory under the optimal strategy.The simulation results show that the proposed method is feasible and effective in the confrontation environment of inspection UAV,and a new optimization scheme is provided for the problem of target arrival and avoidance in reality.关键词
无人机/到达-回避/Stackelberg博弈/路径规划/竞争性协同进化遗传算法Key words
UAV/reach-avoidance/stackelberg game/path planning/competitive coevolution genetic algorithm引用本文复制引用
仇玉宜,吴怀宇,陈洋..基于Stackelberg博弈的巡检无人机路径规划[J].火力与指挥控制,2025,50(2):29-35,7.基金项目
国家自然科学基金资助项目(62073250,62173262) （62073250,62173262）
