基于阶段诱导学习的多无人艇协同目标围捕策略
Stage-inducted learning based cooperative target hunting strategy for multiple unmanned
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摘要: 摘 要:【目的】针对海上目标无人艇智能逃逸问题,提出一种基于阶段诱导学习的多无人艇协同目标围捕策略。【方法】首先,建立针对无人艇围捕逃逸的马尔科夫博弈过程,给出基于距离和角度的围捕成功判定条件;接着,为提升智能逃逸下多无人艇的目标围捕性能,利用集中式训练-分布式执行框架Abstract: Abstract:Objectives Aiming at the intelligent escaped target, a stage-inducted learning based cooperative target hunting strategy for multiple unmanned surface vehicles (USVs) is proposed. Methods Firstly, the Markov game process is established for the hunting-escaping, and the judging