Method for multi-agent formation dynamic path planning and storage medium
A multi-agent, dynamic path technology, applied in non-electric variable control, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve the problem of not being able to guarantee the consistency of multiple decision makers, Achieve the effect of improving the path planning ability
Active Publication Date: 2021-11-23
LUDONG UNIVERSITY
View PDF9 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0006] The embodiment of the present disclosure provides a method and a storage medium for multi-agent formation dynamic path planning, to solve the problem that the Markov-based reinforcement learning algorithm in the prior art cannot guarantee the step consistency among multiple decision makers question
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0032] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0033] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a method for multi-agent formation dynamic path planning, and the method comprises the steps: S1, environment information is initialized, and the target positions of multiple agents are obtained; S2, a pilot agent in the multiple agents obtains a pilot value function corresponding to the current state of the pilot agent according to the target position of the multiple agents, and Q value initialization is carried out according to the pilot value function; S3, the navigation agent adopts a hierarchical reinforcement learning algorithm to carry out strategy learning, and a Q value table of the navigation agent is updated; S4, a following agent in the multiple agents determines the target position of the following agent according to the current position of the pilot agent, obtains a following value function corresponding to the current state of the following agent according to the target position of the following agent, carries out Q value initialization, selects an action according to a greedy strategy, obtains a next state and return, and saves learning experience; and S5, the following agent Q value table is updated.
Description
technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to a method and a storage medium for multi-agent formation dynamic path planning. Background technique [0002] In the field of mobile agents, path planning has attracted wide attention due to its timeliness, and occupies a certain important position in the field of machine learning and artificial intelligence. Today, the research results of path planning based on single agents are very remarkable. Based on this The path planning of multi-agents can not only realize the original functions of a single agent, but also integrate and utilize information, which has higher efficiency in road exploration, information transmission and logistics sorting. [0003] Reinforcement learning algorithm is one of the important learning methods in machine learning at present. It is mainly based on multiple trainings and accumulated experience of the agent. By continuously selecting st...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/10
CPCG05D1/0221G05D1/104
Inventor 杨洪勇韩艺琳范之琳宁新顺刘飞刘莉王丽丽张顺宁
Owner LUDONG UNIVERSITY