Multi-UAV cooperative trajectory planning technology is the key for UAV swarms to perform cooperative combat missions. Aiming at the multi-UAV cooperative mission scenario, this paper proposes a multi-UAV cooperative trajectory planning algorithm based on improved MATD3 under complex obstacle environment. Firstly, the UAV dynamics model, cooperative constraints and battlefield environment threats involved in the UAV cooperative trajectory planning problem are analyzed and modeled; secondly, a continuous dense reward function is designed so as to enhance the learning efficiency of the algorithm and the multi-aircraft cooperative strategy; at the same time, a preferential experience playback mechanism is designed to preferentially select samples with higher learning value for training, thus enhancing the sample utilization efficiency that accelerates the convergence of the strategy.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Improved MATD3-Based Algorithm for Cooperative Autonomous Obstacle Avoidance and Trajectory Planning in Multi-UAV Systems


    Beteiligte:
    Ma, Yuanqiang (Autor:in) / Yang, Wenxin (Autor:in) / Liu, Jiahui (Autor:in) / Xing, Xiaojun (Autor:in) / Ma, Yuanjie (Autor:in)


    Erscheinungsdatum :

    09.05.2025


    Format / Umfang :

    4852693 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Multi-UAV Cooperative Obstacle Avoidance Trajectory Planning Method Based on Improved RRT Algorithm

    Zhang, Zhaohua / Zhang, Dong / Liu, Wenyi et al. | Springer Verlag | 2025


    TRAJECTORY PLANNING WITH OBSTACLE AVOIDANCE FOR AUTONOMOUS DRIVING VEHICLES

    YU NING / ZHU FAN / XUE JINGJING | Europäisches Patentamt | 2022

    Freier Zugriff

    Trajectory planning with obstacle avoidance for autonomous driving vehicles

    YU NING / ZHU FAN / XUE JINGJING | Europäisches Patentamt | 2024

    Freier Zugriff

    Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory

    Jiandong Guo / Chenyu Liang / Kang Wang et al. | DOAJ | 2021

    Freier Zugriff

    Obstacle Avoidance Path Planning Strategy for Autonomous Vehicles Based on Genetic Algorithm

    Xiaofeng WENG / Fei LIU / Sheng ZHOU et al. | DOAJ | 2024

    Freier Zugriff