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A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem

Single UAVs have limited capabilities for complex missions, so suitable solutions are needed to improve the mission success rate, as well as the UAVs’ survivability. A cooperative multi-UAV formation offers great advantages in this regard; however, for large and complex systems, the traditional cont...

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Autores principales: Wang, Xiao, Yang, Zhaohui, Bai, Xueqian, Ji, Mingjiang, Li, Hao, Ran, Dechao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10650083/
https://www.ncbi.nlm.nih.gov/pubmed/37960514
http://dx.doi.org/10.3390/s23218814
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author Wang, Xiao
Yang, Zhaohui
Bai, Xueqian
Ji, Mingjiang
Li, Hao
Ran, Dechao
author_facet Wang, Xiao
Yang, Zhaohui
Bai, Xueqian
Ji, Mingjiang
Li, Hao
Ran, Dechao
author_sort Wang, Xiao
collection PubMed
description Single UAVs have limited capabilities for complex missions, so suitable solutions are needed to improve the mission success rate, as well as the UAVs’ survivability. A cooperative multi-UAV formation offers great advantages in this regard; however, for large and complex systems, the traditional control methods will be invalid when faced with unstable and changing environments. To deal with the poor self-adaptability and high requirements for the environmental state information of traditional control methods for a multi-UAV cluster, this paper proposes a consistent round-up strategy based on PPO path optimization to track targets. In this strategy, the leader is trained using PPO for obstacle avoidance and target tracking, while the followers are expected to establish a communication network with the leader to obtain environmental information. In this way, the tracking control law can be designed, based on the consistency protocol and the Apollonian circle, to realize the round-up of the target and obstacle avoidance. The experimental results show that the proposed strategy can achieve the round-up of the target UAV and guide the pursuing multi-UAV group to avoid obstacles in the absence of the initial detection of the target. In multiple simulated scenarios, the success rates of the pursuit multi-UAV cluster for rounding up the target are maintained above 80%.
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spelling pubmed-106500832023-10-30 A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem Wang, Xiao Yang, Zhaohui Bai, Xueqian Ji, Mingjiang Li, Hao Ran, Dechao Sensors (Basel) Article Single UAVs have limited capabilities for complex missions, so suitable solutions are needed to improve the mission success rate, as well as the UAVs’ survivability. A cooperative multi-UAV formation offers great advantages in this regard; however, for large and complex systems, the traditional control methods will be invalid when faced with unstable and changing environments. To deal with the poor self-adaptability and high requirements for the environmental state information of traditional control methods for a multi-UAV cluster, this paper proposes a consistent round-up strategy based on PPO path optimization to track targets. In this strategy, the leader is trained using PPO for obstacle avoidance and target tracking, while the followers are expected to establish a communication network with the leader to obtain environmental information. In this way, the tracking control law can be designed, based on the consistency protocol and the Apollonian circle, to realize the round-up of the target and obstacle avoidance. The experimental results show that the proposed strategy can achieve the round-up of the target UAV and guide the pursuing multi-UAV group to avoid obstacles in the absence of the initial detection of the target. In multiple simulated scenarios, the success rates of the pursuit multi-UAV cluster for rounding up the target are maintained above 80%. MDPI 2023-10-30 /pmc/articles/PMC10650083/ /pubmed/37960514 http://dx.doi.org/10.3390/s23218814 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Wang, Xiao
Yang, Zhaohui
Bai, Xueqian
Ji, Mingjiang
Li, Hao
Ran, Dechao
A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem
title A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem
title_full A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem
title_fullStr A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem
title_full_unstemmed A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem
title_short A Consistent Round-Up Strategy Based on PPO Path Optimization for the Leader–Follower Tracking Problem
title_sort consistent round-up strategy based on ppo path optimization for the leader–follower tracking problem
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10650083/
https://www.ncbi.nlm.nih.gov/pubmed/37960514
http://dx.doi.org/10.3390/s23218814
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