A two-stage intelligent rendezvous algorithm based on KM and PPO is proposed for the problem of multi-UAV rendezvous trajectory planning. Firstly, based on the Dubins curve and the iterative KM algorithm, the cost distance matrix and the UAV target assignment result are constructed. Secondly, based on the flight cost constraint, a set of comprehensive rewards is designed for the algorithm, and a training method of shared parameters is introduced. Finally, the simulation results reveal that the algorithm improves the convergence speed of training by 75% and the convergence effect by 5.1%. Compared with other methods, it is more efficient in completing the trajectory planning task.


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    Title :

    Multi-UAV Rendezvous Trajectory Planning Based on PPO Algorithm


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Wang, Ye (author) / Ye, Shangjun (author) / Han, Bo (author) / Dong, Yuling (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-02


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Rendezvous Guidance Trajectory Shaping

    Klumpp, Allan R. | IEEE | 1987



    Trajectory shaping rendezvous guidance

    Klumpp, A. R. | NTRS | 1986


    Trajectory shaping rendezvous guidance

    Klumpp, A.R. | Tema Archive | 1986