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Multi-unmanned-aerial-vehicle intelligent cooperative defense penetration confrontation method

A multi-UAV and UAV technology, applied in the field of aircraft, can solve the problems of lack of mobile air defense force model, insufficient consideration of UAV penetration tasks, etc., to balance individual benefits, improve robustness, and ensure avoidance. Effect

Active Publication Date: 2021-01-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] (1) The scene description does not take into account the actual UAV penetration mission, and lacks a model for the mobile air defense force;

Method used

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Embodiment approach

[0033] According to a preferred embodiment of the present invention, the current observation state of the UAV includes the position and velocity vector of the UAV itself, the relative position of the detected hostile UAV, and the relative position of the detected obstacle.

[0034] In a further preferred embodiment, the position of the drone itself is obtained by a GPS positioning system;

[0035] The velocity vector of the UAV itself is obtained by the inertial measurement unit and the magnetometer;

[0036] The relative position of the hostile UAV is obtained by the photoelectric pod;

[0037] The relative position of obstacles is obtained by ultrasonic radar.

[0038] In a further preferred embodiment, the actions output by the UAV include throttle commands, longitudinal overload commands and roll angle commands of the UAV.

[0039] In the present invention, the simulation environment can obtain the observation state, action behavior, reward and successor observation stat...

experiment example

[0115] Simulate multi-UAV cooperative penetration scenarios, such as image 3 As shown, the mission area is a square area of ​​200m×200m, the black area is the threat / terrain obstacle, the green area is the terrain area that can be avoided, and the two blue dots represent the task target of multi-UAV coordinated penetration. The 3 red drones are the mobile air defense force in the mission area, and the 3 green drones represent the multi-drone penetration.

[0116] Among them, the parameters of each part of the simulation scene are shown in Table 1:

[0117] Table 1

[0118]

[0119] Wherein, the penetration unmanned aerial vehicle (green unmanned aerial vehicle) adopts the multi-unmanned aerial vehicle cooperative penetration method based on the counterfactual baseline evaluation-execution algorithm of the present invention to make a decision (such as figure 1 and 2 shown), whose reward function is based on the sum of the distances to the red drone and the shortest dista...

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Abstract

The invention discloses a multi-unmanned-aerial-vehicle intelligent cooperative defense penetration confrontation method. The method comprises the following steps: step 1, training an unmanned aerialvehicle cluster to obtain a strategy model of each unmanned aerial vehicle in the cluster; and step 2, enabling each unmanned aerial vehicle to obtain a behavior decision by adopting the strategy model obtained by training according to the observation state. The multi-unmanned aerial vehicle cooperative defense penetration method disclosed by the invention can be used for unmanned aerial vehicle cooperative defense penetration in a complex environment, and the trained strategy model only depends on local observation information of the unmanned aerial vehicle and can give an optimal behavior decision during execution; through a centralized evaluation module and a counter-fact baseline method, cooperative win-win of multiple unmanned aerial vehicles is realized, individual income and overallincome of a cluster are balanced, and an efficient and reliable technical scheme is provided for cooperative defense penetration of the multiple unmanned aerial vehicles.

Description

technical field [0001] The present invention relates to the field of aircraft technology, in particular to the interdisciplinary field of artificial intelligence, multi-UAV cooperative control and decision-making, and game, and in particular to a multi-UAV intelligent cooperative penetration confrontation method based on a counterfactual baseline judgment-execution algorithm. Background technique [0002] The characteristic of multi-UAV cooperative defense penetration is to use the advantages of quantity and multi-aircraft coordination to enter the area with air defense firepower by finding air defense loopholes, deceiving air defense firepower, penetration cover, and using terrain concealment to perform corresponding tasks. At the same time, the mission area usually contains mobile air defense forces, such as air defense drones, etc. Multi-UAV coordination needs to improve the survival rate of drones under the pursuit of air defense drones, so as to complete the set tasks. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 林德福郑多陈灿宋韬李斌张福彪
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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