基于博弈论的无人机搜索路径规划

摘要

现阶段的无人机搜索路径规划主要以区域覆盖率以及搜索时间为指标,缺乏对目标运动行为的综合利用.本文以敌我双方为局中人,把敌我双方可能的行为作为策略集,建立博弈论模型,通过求解Nash均衡改进扫描式搜索路径规划算法.仿真表明,基于博弈模型的规划算法较改进前不仅能够满足对待搜索区域的完全覆盖,而且提高了无人机的任务完成率,说明了该算法的有效性.%The regional coverage and the search time are used as the evaluation index for search path planning of unmanned aerial vehicles (UAV) at present, which leads to the lack of utilization of the target behaviors. A game theory model, which takes both parties in the struggle as the players and uses the behavior of both parties as the strategy set, is established. By solving the Nash equilibrium of the model, the scanning algorithm for the search path planning is improved. Simulation results, which demonstrate that the improved algorithm can not only match the needs to completely cover the search area, but also improve the completion rates of UAV task, illustrate the effectiveness of the algorithm.