A Distributed Coalition Formation Method of Heterogeneous UAV Swarm in Unknown Dynamic Environment

被引：0
|
作者：
Zheng H.-X. [1 ]
Guo J.-F. [1 ]
Xie X.-D. [1 ]
Yan P. [1 ]
机构：
[1] School of Astronautics, Harbin Institute of Technology, Harbin
来源：
Yuhang Xuebao/Journal of Astronautics | 2022年 / 43卷 / 02期
关键词：
Distributed coalition formation; Distributed cooperative control; Heterogeneous UAV swarm; Monte-Carlo tree search; Unknown environment;
D O I：
10.3873/j.issn.1000-1328.2022.02.007
中图分类号：
学科分类号：
摘要：
Aiming at the problem of distributed coalition formation of heterogeneous UAV swarm in unknown dynamic environment, we first construct the coalition task automata of heterogeneous UAV swarm to realize the autonomous task coordination of heterogeneous UAV swarm. On this basis, a distributed coalition formation algorithm based on Monte-Carlo tree search is proposed, which increments the distributed optimization of coalition structure through a two-stage Monte-Carlo tree search. The algorithm can be implemented in a distributed framework and can terminate at any time to return the current optimal solution. Finally, the simulation results show that the proposed algorithm can effectively deal with the problem of distributed coalition formation of heterogeneous UAV swarm in an unknown and dynamic environment, and can maintain better performance in the large-scale coalition formation problem. © 2022, Editorial Dept. of JA. All right reserved.
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页码：189 / 197
页数：8
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