基于Multi-Agent系统的多飞行器协同路径规划方法的研究

摘要

The Multiple Unmanned Aerial Vehicles (UAVs) coordination is popular in domains of distributed artificial intelligence. One of the key challenges is the real time path planning of multi-UAVs according to their dynamic targets, threatens!and terrain changes in the complex environment,as well as the constraints of the UAVs themselves. This paper proposed a novel approach toward this challenge. Our model is based on multi-agent model with decentralized control to UAV teams. By modeling the constraints of the environment, their allocated targets and other dynamical constraints in real battle fields such as threatens, they can be represented by constraint agents. Therefore,a multiple UAV path planning problem can be converted into a traditional DisCSP problem. We adopted the dynamical programming progress to design the interaction between agents so that multi-agent teams can solve the DisCSP with the ABT algorithm and a feasible planned path for each UAV can be produced according to its dynamical constrains and allocated target We simulated the multi-UAVs dynamical path planning in two scenarios: with dynamical threatens and terrains) with dynamical targets to manifest the feasibility of our designs.%无人多飞行器(UAV)协同技术是当前分布式人工智能的一个热点领域,其中一个关键技术在于如何实现多UAV集群根据复杂环境中目标、威胁、地形变化以及各UAV之间的性能约束动态进行实时性航路规划.提出一种基于Multi-agent系统的多UAV对实时动态多目标进行路径规划的方法.其核心是基于Multi-agent系统的decentralized控制方案.在Multi-agent平台上,实现了agent对于环境、目标、任务等路劲规划约束条件的建模,同时提出了多agent动态路径规划方法的实现方案.方案使用DisCSP模型框架,将基于真实复杂战场环境的实时路径规划问题所涉及的多复杂限制条件,抽象成Multi-agent系统中的各个约束条件,通过多agent间Dynamic Programming过程求解多UAV实时动态多目标的路径规划和协同任务分配的ABT算法,并实现在动态威胁和地形以及动态目标下具备集群协同能力的多UAV实时仿真系统.