基于博弈论的异构无人集群协同编队避障控制  

Obstacle Avoidance Control of Cooperative Formation for Heterogeneous Unmanned Swarm System with Game-Theoretic

作　　者：贾睿轩 陈晓明[1] 邵书义[1] 张子明 JIA Ruixuan;CHEN Xiaoming;SHAO Shuyi;ZHANG Ziming(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Aviation Equipment Monitoring and Control and Reverse Engineering Laboratory,State Wuhu Machinery Factory,Wuhu 241007,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]国营芜湖机械厂航空设备测控与逆向工程实验室,安徽芜湖241007

出　　处：《吉林大学学报（信息科学版）》2024年第4期662-676,共15页Journal of Jilin University（Information Science Edition）

基　　金：安徽省重点研究与开发计划第三批立项基金资助项目(2021008)。

摘　　要：针对多无人机、无人车异构无人集群系统编队避障控制问题,对其利用博弈论方法进行了研究。不同于目前大多数只考虑群体编队目标的多智能体编队控制方案,允许每个智能体都具有个体目标,其中个体目标包含个体跟踪目标和避障目标。使异构无人集群系统在完成协同编队的同时,每个智能体还需根据其自身利益跟踪目标点并实时避障。由于智能体的个体目标和群体目标之间可能会产生冲突,将异构无人集群编队问题转化为智能体之间的非合作博弈问题。通过在代价函数中加入基于人工势场函数设计的避障项实现实时避障,并基于寻求纳什均衡方法设计了控制器,使异构无人集群系统可实现个体目标和群体目标平衡的编队模式。最后通过仿真实验验证了理论结果的正确性。采用该方法可使异构无人集群系统实现编队运动并实时避障。The obstacle avoidance control problem of UAVs(Unmanned Aerial Vehicles)and UGVs(Unmanned Ground Vehicles)named heterogeneous unmanned swarm system is studied using a game-theoretic approach combined with the artificial potential field method.Unlike most multi-agent formation control schemes that only consider the group formation objective,we allow each agent to have individual objectives,such as individual tracking and obstacle avoidance.Specifically,when the heterogeneous unmanned swarm system completes the cooperative formation,each agent needs to track the target point and avoid obstacles in real-time according to its own interests.The heterogeneous unmanned swarm system formation problem is transformed into a non-cooperative game problem between agents because there may be conflicts between the individual and group objectives of the agents.Real-time obstacle avoidance is realized by adding an obstacle avoidance term based on the artificial potential field function into the cost function.And the controller is designed based on the Nash equilibrium seeking strategy to achieve a balanced formation mode of individual and group objectives.Finally,the correctness of the theoretical results is verified through simulation experiments.The proposed method can enable heterogeneous unmanned swarm system to achieve formation motion and real-time obstacle avoidance.

关 键 词：异构集群 编队控制 避障 博弈论 人工势场 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置] V249[自动化与计算机技术—控制科学与工程]