基于MA2IDDPG算法的异构多无人机协同突防方法
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中国博士后科学基金(2021M693002)


Cooperative penetration method of heterogeneous multiple unmanned aerial vehicles based on multi-agent asynchronous imitative deep deterministic policy gradient algorithm
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    摘要:

    为了形成智能化异构多无人机协同突防策略,提出了基于多智能体异步模仿深度确定性策略梯度算法的异构多无人机协同突防方法。首先,基于典型DDPG方法,采用异步并行框架进行改进,提高经验的收集效率。其次,分别构建基于专家经验知识的牵引性奖赏函数和基于任务结果的描述性奖赏函数。再次,通过分阶段训练后,使得深度神经网络产生的协同突防策略能够快速达到专家经验知识水平后,进一步提高对抗水平。最后,在仿真实验中,构建了异构多无人机协同突防环境,对改进方法和典型DDPG方法的对抗效果进行了对比。实验结果表明,MA2IDDPG方法能够有效产生多无人机协同突防策略,并且在训练阶段表现更为稳定且对抗效果更优。所设计的创新性MA2IDDPG方法框架可有效应用于无人机群控制领域,特别是对异构无人机群的智能控制方法研究具有重要参考意义。

    Abstract:

    In order to generate the intelligentized collaborative penetration strategy of heterogeneous multiple UAVs,a novel cooperative penetration method of heterogeneous multiple unmanned aerial vehicles based on multi-agent asynchronous imitative deep deterministic policy gradient algorithm (MA2IDDPG) was proposed.Firstly,asynchronous parallel framework was adopted based on the traditional DDPG method to improve the collection efficiency of experience data.Secondly,the attractant reward function based on expert experience knowledge and the descriptive reward function based on results were constructed respectively.Thirdly,through the phased training,the collaborative penetration strategy generated by the deep neural network could quickly reach the level of expert experience and knowledge,and the level of confrontation could be further improved.Finally,a heterogeneous multi-UAV cooperative penetration environment was constructed in simulation experiments,and the countermeasures performance of the improved method and the DDPG method was compared.The experiment results show that MA2IDDPG method can effectively generate the cooperative penetration strategy of multiple UAVs,and the performance of the proposed method is more stable and better than that of the traditional method in the training stage.The innovative MA2IDDPG method can be effectively applied in the field of UAV swarm control,especially for the study of intelligent control methods of heterogeneous UAV swarm.

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畅 鑫,李艳斌,赵 研,杜宇峰,刘东辉.基于MA2IDDPG算法的异构多无人机协同突防方法[J].河北工业科技,2022,39(4):328-334

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  • 收稿日期:2022-02-11
  • 最后修改日期:2022-06-05
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  • 在线发布日期: 2022-08-01
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