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高超声速飞行器末制导段协同避障决策方法

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针对高超声速飞行器集群编队控制中飞行器飞行速度快、环境参数变化剧烈导致的集群控制困难问题，提出基于强化学习的集中式训练、分布式执行智能集群控制方法。建立高超声速飞行器集群运动学模型，以协同打击、编队保持作为典型目标，将过载、通信、障碍作为约束，设计了观测空间与动作空间。考虑飞行器间、飞行器与目标、飞行器与障碍物相对位置速度关系设计奖励函数，通过不断调整奖励函数权值并对飞行器进行训练，实现飞行器集群的编队控制。为了考核新算法的性能，建立评价指标，开展大量有扰动随机环境下的仿真分析。仿真结果表明，新的智能控制方法在障碍物随机位置增加的测试环境中仍能完成编队控制，为高速复杂飞行环境下的编队控制提供了一种新的解决方法。
Cooperative Obstacle Avoidance Decision Method for the Terminal Guidance Phase of Hypersonic Vehicles
In addressing the issues of cluster control caused by the rapid flight speeds of aerial vehicles and the drastic changes in environmental parameters in the cluster formation control of hypersonic vehicles,a centralized training and distributed execution intelligent cluster control method based on reinforcement learning is proposed. A hypersonic vehicle cluster kinematics model is established,and the observation space and action space are designed by taking the cooperative engagement and formation maintenance as primary objectives,and the overload,communication and obstacles as the constraints. A reward function is designed by taking into account the relationships between the relative positions and speeds of vehicles,vehicle and target,and vehicle and obstacle. The cluster formation control of hypersonic vehicles is achieved by continuously adjusting the weight of the reward function and training the hypersonic vehicles. The evaluation indicators are established to assess the performance of the algorithm,and a large number of simulation analysis in disturbed random environments are made. The results show that the proposed intelligent control method can be used to still complete the formation control in a test environment with increasing the random positions of obstacles,providing a new solution for formation control in high-speed and complex flight environments.

hypersonic vehiclereinforcement learningformation controlcollaborative obstacle avoid-ance

胡砚洋、何凡、白成超

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哈尔滨工业大学 航天学院,黑龙江 哈尔滨150001

高超声速飞行器 强化学习 编队控制 协同避障

国家自然科学基金重大研究计划项目中国科协青年人才托举工程项目黑龙江省自然科学基金优秀青年基金项目思源联盟开放基金项目中央高校基本科研业务费专项基金资助项目

923711112021QNRC001YQ2022F012HTKJ2022KL012003HIT.OCEF.2023010

2024

10.12382/bgxb.2023.0831

兵工学报
中国兵工学会

兵工学报

CSTPCD北大核心
影响因子：0.735
ISSN：1000-1093
年,卷(期)：2024.45(9)
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