Acta Armamentarii ›› 2023, Vol. 44 ›› Issue (2): 484-495.doi: 10.12382/bgxb.2021.0606
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YIN Yiyi1,2, WANG Xiaofang1,*(), ZHOU Jian3
Received:
2021-09-05
Online:
2022-06-10
Contact:
WANG Xiaofang
CLC Number:
YIN Yiyi, WANG Xiaofang, ZHOU Jian. Q-Learning-based Multi-UAV Cooperative Path Planning Method[J]. Acta Armamentarii, 2023, 44(2): 484-495.
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无人机编号 | 初始位置 | 期望位置 | ||
---|---|---|---|---|
x | y | X | Y | |
1 | 2 | 1 | 15 | 12 |
2 | 1 | 18 | 15 | 12 |
3 | 16 | 1 | 15 | 12 |
4 | 19 | 20 | 15 | 12 |
Table 1 Parameters of UAVs
无人机编号 | 初始位置 | 期望位置 | ||
---|---|---|---|---|
x | y | X | Y | |
1 | 2 | 1 | 15 | 12 |
2 | 1 | 18 | 15 | 12 |
3 | 16 | 1 | 15 | 12 |
4 | 19 | 20 | 15 | 12 |
次数 | Q学习算法时间/s | A*算法时间/s |
---|---|---|
1 | 0.131 | 0.278 |
2 | 0.135 | 0.196 |
3 | 0.122 | 0.209 |
4 | 0.158 | 0.194 |
4 | 0.128 | 0.202 |
Table 2 Performance comparison between the Q-learning and A* algorithms
次数 | Q学习算法时间/s | A*算法时间/s |
---|---|---|
1 | 0.131 | 0.278 |
2 | 0.135 | 0.196 |
3 | 0.122 | 0.209 |
4 | 0.158 | 0.194 |
4 | 0.128 | 0.202 |
无人机编号 | 初始位置 | 期望位置 | ||
---|---|---|---|---|
x | y | X | Y | |
1 | 1 | 1 | 6 | 1 |
2 | 1 | 3 | 5 | 2 |
Table 3 Starting position and expected position of UAV 3 and 4 in the partial area
无人机编号 | 初始位置 | 期望位置 | ||
---|---|---|---|---|
x | y | X | Y | |
1 | 1 | 1 | 6 | 1 |
2 | 1 | 3 | 5 | 2 |
Q-table | 上 | 下 | 左 | 右 |
---|---|---|---|---|
state1 | 0 | 1.3118 | 0 | 1.3118 |
… | … | … | … | … |
State48 | 6.2560 | 9.7735 | 6.2550 | 9.7734 |
… | … | … | … | … |
state69 | 9.7734 | 15.270 | 9.7734 | 15.270 |
state70 | 0 | 19.088 | 12.216 | 19.088 |
Table 4 Partial Q-table before superposition
Q-table | 上 | 下 | 左 | 右 |
---|---|---|---|---|
state1 | 0 | 1.3118 | 0 | 1.3118 |
… | … | … | … | … |
State48 | 6.2560 | 9.7735 | 6.2550 | 9.7734 |
… | … | … | … | … |
state69 | 9.7734 | 15.270 | 9.7734 | 15.270 |
state70 | 0 | 19.088 | 12.216 | 19.088 |
Q-table | 上 | 下 | 左 | 右 |
---|---|---|---|---|
state1 | 0 | 1.3118 | 0 | 1.3118 |
… | … | … | … | … |
State48 | 6.2550 | 9.1334 | 5.6150 | 9.3638 |
… | … | … | … | … |
state69 | 9.3638 | 14.631 | 9.1334 | 15.271 |
state70 | 0 | 19.088 | 12.216 | 19.088 |
Table 5 Partial Q-table after superposition
Q-table | 上 | 下 | 左 | 右 |
---|---|---|---|---|
state1 | 0 | 1.3118 | 0 | 1.3118 |
… | … | … | … | … |
State48 | 6.2550 | 9.1334 | 5.6150 | 9.3638 |
… | … | … | … | … |
state69 | 9.3638 | 14.631 | 9.1334 | 15.271 |
state70 | 0 | 19.088 | 12.216 | 19.088 |
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