基于拥塞博弈的多无人机自主侦察任务规划 |
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引用本文: | 赵玉亮. 基于拥塞博弈的多无人机自主侦察任务规划[J]. 兵工自动化, 2020, 39(7) |
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作者姓名: | 赵玉亮 |
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作者单位: | 海军工程大学基础部,武汉 430033 |
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基金项目: | 国家自然科学基金羡慕(71171198) |
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摘 要: | 为解决通信中断时多无人机自主侦察任务规划的问题,提出一种基于拥塞博弈的分布式任务规划方法。根据问题场景给出各无人机的侦察收益函数以及各子区域的社会福利函数,基于拥塞博弈,建立多无人机自主侦察拥塞博弈模型,验证纯纳什均衡的存在性,给出多无人机自主侦察拥塞博弈的无政府状态代价和稳定状态代价的界限,设计一种具有性能保证并且易于实现的策略更新规则,并通过蒙特卡罗方法进行模拟仿真实验。仿真结果验证了该模型的适用性和策略更新规则的有效性。
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关 键 词: | 多无人机;自主侦察;通信中断;拥塞博弈;纳什均衡;无政府状态代价;稳定状态代价;策略更新规则 |
收稿时间: | 2020-03-19 |
修稿时间: | 2020-04-10 |
Multi-UAV Autonomous Reconnaissance MissionPlanning Based on Congestion Game |
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Abstract: | In order to solve the problem of autonomous reconnaissance mission planning of multi UAV whencommunication is interrupted, a distributed mission planning method based on congestion game is proposed. According tothe problem scenario, the reconnaissance payoff function of each UAV and the social welfare function of each sub-regionare given. Based on the congestion game, a congestion game model for autonomous reconnaissance of multi-UAV isestablished. Next, the existence of pure Nash equilibrium is verified. Give the boundary between the cost of anarchy and thecost of stable state of multi-UAV autonomous reconnaissance congestion game. Furthermore, a strategy updating rule withperformance guarantee and easy implementation is designed and simulated by Monte Carlo method. Simulation resultsverify the applicability of the model and the validity of policy updating rules. |
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Keywords: | multi UAV autonomous reconnaissance interruption of communication congestion game Nashequilibrium price of anarchy price of stability strategy updating rule |
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