基于 MAPPO 的多无人机协同分布式动态任务分配
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作者单位:

西北工业大学

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中图分类号:

V279

基金项目:

国家自然科学基金项目面上项目:可编程的集群机器人自主鲁棒成型(51775435)


Multi-UAV Collaborative Distributed Dynamic Task Allocation Based on MAPPO
Author:
Affiliation:

Northwestern Polytechnical University

Fund Project:

The National Natural Science Foundation of China General Program: Programmable self-formation and self-healing in robotic swarm(51775435)

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    摘要:

    针对多无人机在高动态近距空战中自主决策困难且协同性差等问题,提出了一种基于 MAPPO 的多无人机分布 式动态任务分配方法.首先,考虑任务可执行约束和无人机载荷约束,建立以敌方无人机为目标、攻击战术为任务的 多无人机动态任务分配模型;其次,设计了包含分离式状态滑动标准化机制、动作屏蔽机制以及注意力机制的任务 重分配网络,该网络可有效处理 MAPPO 算法在状态滑动标准化过程中的信息失真问题,并确保任务分配过程严格 满足任务约束,同时可基于攻击目标专注于攻击战术的选择,实现多无人机的协同分布式动态任务分配;最后,在 3v3 近距空战场景中,搭载所提算法的我方无人机与搭载空战决策专家系统的敌方无人机进行空战对抗,其作战胜 率高达 98.5%,所得结果验证了该方法的有效性.

    Abstract:

    To address the issues of autonomous decision-making difficulties and poor coordination in highly dynamic close-range air combat involving multiple UAVs, a distributed dynamic task allocation method based on MAPPO is proposed. Firstly, considering the executable constraints of tasks and the payload constraints of UAVs, a dynamic task allocation model for multi-UAV is established, targeting enemy UAVs and attack tactics as tasks; Secondly, a task reallocation network is designed, incorporating a seperated state sliding normalization mechanism, action mask mechanism, and attention mechanism. This network effectively addresses the information distortion issues that occur during the state sliding normalization process in the MAPPO algorithm, ensuring that the task allocation process strictly adheres to task constraints. Additionally, it focuses on the selection of attack tactics based on attack target, enabling distributed dynamic task allocation for multi-UAV; Finally, in a 3v3 air combat scenario, our UAVs equipped with the proposed algorithm engage in air combat against enemy UAVs equipped with an expert system, The combat victory rate of our UAVs reaches 98.5%, validating the effectiveness of the proposed method.

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  • 收稿日期:2024-07-02
  • 最后修改日期:2024-10-15
  • 录用日期:2024-10-15
  • 在线发布日期: 2024-10-21
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