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Neural Network Algorithm for Intercepting Targets Moving along Known Trajectories by a Dubins’ Car

  • NONLINEAR SYSTEMS
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Abstract

The task of intercepting a target moving along a rectilinear or circular trajectory by a Dubins’ car is formulated as a problem of time-optimal control with an arbitrary direction of the car’s velocity at the time of interception. To solve this problem and to synthesize interception trajectories, neural network methods of unsupervised learning based on the Deep Deterministic Policy Gradient algorithm are used. The analysis of the obtained control laws and interception trajectories is carried out in comparison with the analytical solutions of the interception problem. Mathematical modeling of the target motion parameters, which the neural network had not previously seen during training, is carried out. Model experiments are conducted to test the stability of the neural solution. The effectiveness of using neural network methods for the synthesis of interception trajectories for given classes of target movements is shown.

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Funding

The work was supported by a grant from the ICS RAS Youth Scientific School “Methods of optimization and motion planning of controlled objects.” The work of A.A. Galyaev and I.A. Nasonov was partially supported by the Russian Scientific Foundation (project no. 23-19-00134).

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Authors and Affiliations

  1. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia

    A. A. Galyaev, A. I. Medvedev & I. A. Nasonov

Authors
  1. A. A. Galyaev
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  2. A. I. Medvedev
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  3. I. A. Nasonov
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Corresponding authors

Correspondence to A. A. Galyaev, A. I. Medvedev or I. A. Nasonov.

Additional information

This paper was recommended for publication by O.P. Kuznetsov, a member of the Editorial Board

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Galyaev, A.A., Medvedev, A.I. & Nasonov, I.A. Neural Network Algorithm for Intercepting Targets Moving along Known Trajectories by a Dubins’ Car. Autom Remote Control 84, 196–210 (2023). https://doi.org/10.1134/S0005117923030049

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  • DOI: https://doi.org/10.1134/S0005117923030049

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