分布式多无人机编队控制与博弈算法研究

doi:10.3969/j.issn.1009-086x.2021.05.006

现代防御技术 ›› 2021, Vol. 49 ›› Issue (5): 45-50.DOI: 10.3969/j.issn.1009-086x.2021.05.006

分布式多无人机编队控制与博弈算法研究

马特, 郑致远, 赵军虎

火箭军工程大学,陕西西安 710025

收稿日期:2021-03-04 修回日期:2021-06-07 出版日期:2021-10-20 发布日期:2021-11-01
作者简介:马特(1994-),男,湖北襄阳人。博士生,主要从事多智能体系统,分布式博弈,分布式控制等相关研究。通信地址:710025 陕西省西安市灞桥区同心路2号 E-mail:matt_rocket@163.com

Formation Control of Multiple UAVs and Distributed Game Problem

MA Te, ZHENG Zhi-yuan, ZHAO Jun-hu

Rocket Force University of Engineering,Shaanxi Xi'an 710025,China

Received:2021-03-04 Revised:2021-06-07 Online:2021-10-20 Published:2021-11-01

摘要/Abstract

摘要： 针对多无人机的任意队形编队控制问题,将博弈论引入分布式控制问题中,提出一种基于博弈的分布式控制算法。该算法将梯度下降和一致性方法结合,将多无人机编队问题转化为分布式博弈问题。通过一致性方法,系统内每个无人机个体都可以对其他个体的位置进行有效估计。利用梯度下降实现纳什均衡点的求解从而实现理想编队。在提出的分布式控制算法下,个体无人机无需全局信息,只需交换邻居个体的信息就可实现多无人机的任意编队。将算法应用到多旋翼无人机系统中,仿真结果表明了分布式算法有效性。

关键词: 无人机编队, 分布式控制, 博弈论, 纳什均衡点, 分布式博弈, 图论

Abstract: The formation of UAVs is studied by introducing game theory into distributed control,and a game-based distributed algorithm is developed.The algorithm combines the gradient descent and consensus to convert formation of UAVs into a problem of distributed game.The consensus technique is adopted to guarantee the estimation of the positions of all UAVs,and gradient descent is for the Nash equipment.By the proposed algorithm,UAVs can complete any formation even each UAV only have the neighbor UAV's information not all UAVs'.The simulation result verifies the effectiveness of the proposed algorithm.

Key words: formation, distributed control, game theory, Nash equilibrium, distributed game, graph theory

中图分类号:

V279+.2
TJ85

马特, 郑致远, 赵军虎. 分布式多无人机编队控制与博弈算法研究[J]. 现代防御技术, 2021, 49(5): 45-50.

MA Te, ZHENG Zhi-yuan, ZHAO Jun-hu. Formation Control of Multiple UAVs and Distributed Game Problem[J]. Modern Defense Technology, 2021, 49(5): 45-50.

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分布式多无人机编队控制与博弈算法研究

Formation Control of Multiple UAVs and Distributed Game Problem

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