引用本文:仝秉达,段海滨,魏晨.仿鹰鸽捕食逃逸行为的多无人机分组对抗博弈方法[J].控制理论与应用,2024,41(5):855~865.[点击复制]
TONG Bing-da,DUAN Hai-bin,WEI Chen.Multi-UAV grouping confrontation game method imitating the pursuit evasion behavior of eagles and pigeons[J].Control Theory and Technology,2024,41(5):855~865.[点击复制]
仿鹰鸽捕食逃逸行为的多无人机分组对抗博弈方法
Multi-UAV grouping confrontation game method imitating the pursuit evasion behavior of eagles and pigeons
摘要点击 3554  全文点击 116  投稿时间：2022-03-18  修订日期：2024-02-07
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DOI编号  10.7641/CTA.2023.20194
  2024,41(5):855-865
中文关键词  多无人机对抗  微分博弈  任务分配  捕食逃逸  鞍点策略
英文关键词  multi-UAV confrontation  differential games  task allocation  pursuit evasion  saddle point strategy
基金项目  科技创新2030–“新一代人工智能”重大项目(2018AAA0100803), 国家自然科学基金项目(U20B2071, 91948204, T2121003)
作者单位E-mail
仝秉达 北京航空航天大学自动化学院自控系 tongbingda@buaa.edu.cn 
段海滨* 北京航空航天大学自动化学院自控系 hbduan@buaa.edu.cn 
魏晨 北京航空航天大学自动化学院自控系  
中文摘要
      针对多无人机对抗问题, 本文提出了一种三维空间中仿鹰鸽捕食逃逸行为的多无人机分组对抗博弈方法.在分析鹰鸽捕食逃逸行为的基础上, 文章构建了多无人机博弈对抗系统模型, 并定义了微分博弈中的连续可微值函数, 证明了值函数满足Hamilton-Jacobi-Isaacs(HJI)方程, 从而保证鞍点策略存在. 使用最优分配方法, 为仿鹰无人机一方设计了分组对抗分配策略, 以解决多无人机追逃场景中的任务分配问题. 本文对比仿真实验结果验证了所提出方法的有效性.
英文摘要
      In this paper, to solve the problem of multi-unmanned aerial vehicle (UAV) confrontation, a multi-UAV confrontation game system is established and a multi-UAV grouping confrontation game method is proposed in three-dimensional space. The multi-UAV confrontation game system model and the continuous differentiable value function in the differential games are defined, and it is proved that the value function satisfies the Hamiltonian-Jacobi-Isaacs (HJI) equation ensurings that the saddle point strategy exists. For the problem of multi-UAV confrontation, a grouping assignment strategy is designed to solve the task assignment problem in the scenario. Comparative simulation results verified the effectiveness of the proposed method in solving the multi-UAV confrontation game problem