Abstract
Artificial intelligence has become the core driving force to promote a new round of military revolution. Based on the principle of“three-three-system”in military tactics, this paper studies the formation and path planning of multi-unmanned vehicles by artificial potential field method combined with A-star algorithm and reinforcement learning. Firstly, a three-vehicle collaborative structural framework based on leader and follower is constructed. Secondly, the autonomous cooperative path planning algorithm is designed, including the key technologies of global path planning and local path planning algorithm: state and action, reward function, sphere of influence, formation expansion and system simulation framework. Then the simulation experiment is carried out in the 2D MATLAB environment to verify the feasibility of the designed three-car formation. Finally, the feasibility and effectiveness of the designed basic three-vehicle formation and its extended formation are verified by simulation in the 3D Webots environment, which provides a research basis for the ground autonomous intelligent unmanned swarm system.
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Wang, F., Huang, S., Tang, Y., Wang, T. (2023). Research on Formation and Path Planning Method of Isomorphic Multi-unmanned Ground System Based on Humanoid Formation Configuration. In: Fu, W., Gu, M., Niu, Y. (eds) Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022). ICAUS 2022. Lecture Notes in Electrical Engineering, vol 1010. Springer, Singapore. https://doi.org/10.1007/978-981-99-0479-2_238
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DOI: https://doi.org/10.1007/978-981-99-0479-2_238
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