北京航空航天大学学报2026，Vol.52Issue(2)：620-626,7.DOI:10.13700/j.bh.1001-5965.2024.0481
博弈环境下的多无人机系统协同路径规划
Cooperative path planning for multiple unmanned aerial vehicles system in a game-theoretic environment
摘要
Abstract
In this paper,the cooperative path planning problem in games for the unmanned aerial vehicles system is addressed under conditions of unknown dynamics and input constraints.By planning their routes and avoiding collisions and prohibited areas,friendly and enemy unmanned aerial vehicles must catch up to each other in the game.The trajectory of the opposing unmanned aerial vehicles is predicted to assist path planning by a long short term memory(LSTM)model with an attention mechanism.By creating the value function,the cooperative path planning issue is transformed into an optimum control problem with input restrictions.A method based on integral reinforcement learning is designed to achieve optimal control using the historical data,without the knowledge of inertial parameters.The results of the simulation confirm the efficacy of the proposed method.关键词
多智能体系统/路径规划/非线性系统/强化学习/无人机Key words
multi-agent system/path planning/nonlinear system/reinforcement learning/unmanned aerial vehicle分类
航空航天引用本文复制引用
范芮滔,刘昊,程明,马超群,刘大卫..博弈环境下的多无人机系统协同路径规划[J].北京航空航天大学学报,2026,52(2):620-626,7.基金项目
国家自然科学基金(62273015,U23B2032) （62273015,U23B2032）
北京市自然科学基金(4232045) National Natural Science Foundation of China(62273015,U23B2032) （4232045）
Beijing Natural Science Foundation(4232045) （4232045）
