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摘要:
为解决低空无人机冲突解脱过程中个体支付成本不公平问题,提出了基于合作博弈“核仁解”概念的多机冲突解脱算法。针对低空多机冲突场景的特点,基于“核仁解”概念,建立无人机冲突解脱支付矩阵。结合人工势场法与蚁群算法的优点,提出基于人工势场法-蚁群算法(APF-ACO)的冲突解脱混合求解策略。仿真结果表明:综合计算时间、可行性与系统效率3个评价指标,APF-ACO混合求解策略效能最优;基于合作博弈“核仁解”的求解策略在一定程度上可提升个体公平性;同时能够在牺牲少量整体利益的前提下,拥有优先级无人机的快速规划达到目标。
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关键词:
- 无人机 /
- 冲突解脱 /
- 合作博弈 /
- 人工势场法(APF) /
- 蚁群算法(ACO)
Abstract:In order to solve the problem of inequity of individual cost in conflict resolution of low-altitude UAV, a multi-aircraft conflict resolution algorithm based on the concept of "nucleolus solution" in cooperative game is proposed. According to the characteristics of low-altitude multi-aircraft conflict scenarios, based on the "nucleolus solution" concept, the UAV conflict resolution payment matrix is established. Combined with the advantages of artificial potential field method and ant colony optimization, a hybrid conflict resolution strategy based on artificial potential field-ant colony optimization (APF-ACO) is proposed. The simulation results show that the APF-ACO hybrid solution strategy has the best performance by integrating the three evaluation indexes of calculation time, feasibility and system efficiency. The solution strategy based on cooperative game "nucleolus solution" can improve individual fairness to a certain extent. At the same time, the priority UAV can be quickly planned to achieve the goal at the expense of a small amount of overall benefits.
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表 1 仿真参数设置
Table 1. Simulation parameter setting
参数 数值 参数 数值 d/m 20 α 100 kri 1 m 60 kvi 1 ρ 0.8 ki/(m·s-1) 10 Q 500 rj/m 3 NCmax 50 σrj/m 50 L 20 表 2 两种冲突解脱策略性能对比
Table 2. Performance comparison of two conflict resolution strategies
求解策略 个体支付成本υ/m UAV1 UAV2 UAV3 UAV4 UAV5 UAV6 合作博弈“核仁解” 6.119 2 62.542 3 23.304 0 62.374 0 62.092 8 7.259 3 传统合作式 117.294 3 32.746 2 21.049 4 21.049 4 23.304 0 15.624 0 表 3 两种无人机优先级调配策略下的个体支付成本
Table 3. Individual payment costs of two UAV priority allocation strategies
UAV 个体支付成本υ/m 不考虑优先级的调配策略 基于合作博弈“核仁解”的优先调配 UAV1 19.467 3 8.038 5 UAV2 19.516 7 53.687 1 UAV3 20.890 5 15.713 9 UAV4 20.890 5 15.652 5 总计 80.765 93.092 -
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