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摘要:
The hunting of dynamic targets by multi unmanned surface vehicle(USV) is an important problem in USV swarm operations. In this paper, aiming at the dynamic target oriented swarm hunting problem, by analyzing the shortcomings of the hunting mechanism based on MADDPG algorithm, we introduce the attention mechanism into the hunting process, and then design the cooperative hunting strategy based on the attention mechanism(Att-MADDPG), updating the corresponding hunting algorithm. Firstly, the attention module is added to critic network to process the information of all USVs according to different attention weights. Secondly, the attention module is added to actor network to promote other USVs to carry out cooperative hunting. Finally, establish obstacle-free and obstacle simulation environment according to the hunting task. The simulation results show that the training stability and timeliness of Att-MADDPG algorithm are significantly improved compared with MADDPG algorithm. After learning, the USV can cooperate to make the swarm emerge more intelligent behavior.
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来源 :
2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC
ISSN: 1948-9439
年份: 2023
页码: 4865-4869
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