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在对策论框架下研究多无人飞行器的协调航迹规划问题,提出了一种基于Nash平衡和进化计算的航迹规划算法。协调航迹规划是一个多目标合作优化问题,也是一个非合作对策问题。飞行器编队的分布结构提供了一种隐性偏好信息,有助于找到飞行器编队的最优协调航迹和最优飞行代价分配。本文算法使用特定的航迹个体表示方法和进化算子,按照层次方法处理各种航迹约束。不同飞行器间的协同和竞争关系定义在航迹评价函数里。仿真结果验证了基于博弈论航迹规划算法的可行性和优越性。
Under the framework of game theory, this paper studies the problem of coordinated trajectory planning for multi-UAVs and proposes a trajectory planning algorithm based on Nash equilibrium and evolutionary computation. Coordination of trajectory planning is a multi-objective cooperation optimization problem, but also a non-cooperative strategy. The distribution structure of aircraft formation provides a hidden preference information to help find the optimal coordination trajectory and optimal flight cost allocation of the aircraft formation. In this paper, the algorithm uses a specific trajectory individual representation and evolution operator, according to the hierarchical approach to deal with a variety of trajectory constraints. The coordination and competition among different aircraft are defined in the track evaluation function. Simulation results verify the feasibility and superiority of trajectory planning algorithm based on game theory.