Path Planning of Multi-UAVs Cooperative Search Based on Stackelberg Equilibrium

WANG Rui’an, WEI Wenjun

1. School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730000, China
• Online:2019-04-15 Published:2019-04-15

基于stackelberg多步博弈的无人机协同搜索路径规划

1. 兰州交通大学 自动化与电气工程学院，兰州 730000

Abstract: In view of the limitation that only one side of UAVs and targets has long-distance detection capability in past studies, it can’t reflect the two-sides game relation of the battlefield environment. In response to this deficiency, this paper proposes a multi-step game strategy based on the stackelberg equilibrium and multi-step prediction, which realizes the game search with the long-distance detection capability. The path profit function is created, both sides can select the corresponding function according to the game state at different moments, which realizes the dynamic path planning of the UAVs. The simulation results show that the proposed strategy is fully applicable to the game model of this paper and has higher search efficiency than the greedy strategy, greatly improving target capture rate.
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