{"id":1742,"date":"2024-11-15T16:46:30","date_gmt":"2024-11-15T08:46:30","guid":{"rendered":"https:\/\/www.15zhi.net\/blog\/?p=1742"},"modified":"2024-11-15T16:51:19","modified_gmt":"2024-11-15T08:51:19","slug":"202411-%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-uav-swarm-cooperative-target-search-a-multi-agent-reinforcement-learning-approach","status":"publish","type":"post","link":"https:\/\/www.15zhi.net\/blog\/202411-%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-uav-swarm-cooperative-target-search-a-multi-agent-reinforcement-learning-approach\/","title":{"rendered":"202411 \u8bba\u6587\u7814\u8bfb-UAV Swarm Cooperative Target Search: A Multi-Agent Reinforcement Learning Approach"},"content":{"rendered":"\n<p>\u6765\u6e90\uff1a<strong>&nbsp;<\/strong><a href=\"https:\/\/ieeexplore.ieee.org\/xpl\/RecentIssue.jsp?punumber=7274857\">IEEE Transactions on Intelligent Vehicles<\/a>&nbsp;<\/p>\n\n\n\n<p>\u4f5c\u8005\uff1aYukai Hou, Jin Zhao, Rongqing Zhang, Xiang Cheng, Liuqing Yang<\/p>\n\n\n\n<p>\u5355\u4f4d\uff1a\u540c\u6d4e\u5927\u5b66<\/p>\n\n\n\n<p>\u65f6\u95f4\uff1a2023<\/p>\n\n\n\n<p><strong>\u4e00\u3001\u80cc\u666f<\/strong><\/p>\n\n\n\n<p>\u968f\u7740\u65e0\u4eba\u673a\uff08UAV\uff09\u6280\u672f\u7684\u53d1\u5c55\uff0c\u5176\u5728\u672a\u77e5\u533a\u57df\u641c\u7d22\u4efb\u52a1\u4e2d\u7684\u5e94\u7528\u8d8a\u6765\u8d8a\u5e7f\u6cdb\uff0c\u5982\u641c\u6551\u3001\u519c\u4e1a\u76d1\u6d4b\u548c\u57ce\u5e02\u89c4\u5212\u7b49\u3002\u7136\u800c\uff0c\u968f\u7740\u641c\u7d22\u573a\u666f\u7684\u590d\u6742\u6027\u589e\u52a0\uff0c\u73b0\u6709\u7684\u65e0\u4eba\u673a\u7fa4\u4f53\u641c\u7d22\u65b9\u6cd5\u5728\u53ef\u6269\u5c55\u6027\u548c\u9ad8\u6548\u534f\u4f5c\u65b9\u9762\u9762\u4e34\u6311\u6218\u3002\u7279\u522b\u662f\u5728\u5927\u89c4\u6a21\u641c\u7d22\u4efb\u52a1\u4e2d\uff0c\u4f9d\u8d56\u5168\u5c40\u4fe1\u606f\u7684\u51c6\u786e\u6027\u548c\u5b9e\u65f6\u6027\u53d8\u5f97\u96be\u4ee5\u4fdd\u8bc1\uff0c\u56e0\u4e3a\u5168\u5c40\u4fe1\u606f\u6536\u96c6\u53d7\u5230\u7a7a\u95f4\u548c\u65f6\u95f4\u5206\u8fa8\u7387\u6709\u9650\u3001\u901a\u4fe1\u5ef6\u8fdf\u548c\u6570\u636e\u8d28\u91cf\u4e0d\u53ef\u9760\u7b49\u95ee\u9898\u7684\u5f71\u54cd\u3002\u6b64\u5916\uff0c\u590d\u6742\u73af\u5883\u4e2d\u969c\u788d\u7269\u4f17\u591a\u3001\u4e0d\u786e\u5b9a\u6027\u9ad8\u3001\u6761\u4ef6\u53d8\u5316\u8fc5\u901f\uff0c\u8fd9\u4e9b\u90fd\u52a0\u5267\u4e86\u641c\u7d22\u4efb\u52a1\u7684\u96be\u5ea6\u3002\u56e0\u6b64\uff0c\u9700\u8981\u4e00\u79cd\u80fd\u591f\u9002\u5e94\u8fd9\u4e9b\u6311\u6218\u7684\u65b0\u578b\u641c\u7d22\u65b9\u6cd5\uff0c\u4ee5\u63d0\u9ad8\u65e0\u4eba\u673a\u7fa4\u4f53\u5728\u590d\u6742\u548c\u5927\u89c4\u6a21\u573a\u666f\u4e2d\u7684\u641c\u7d22\u6548\u7387\u3002<\/p>\n\n\n\n<p><strong>\u4e8c\u3001\u8d21\u732e<\/strong><\/p>\n\n\n\n<p>\u968f\u7740\u573a\u666f\u89c4\u6a21\u7684\u6269\u5927\u548c\u4efb\u52a1\u6570\u91cf\u7684\u589e\u52a0\uff0c\u73b0\u6709\u65e0\u4eba\u673a\u96c6\u7fa4\u641c\u7d22\u7b97\u6cd5\u5728\u53ef\u6269\u5c55\u6027\u548c\u6548\u7387\u65b9\u9762\u4ecd\u53ef\u80fd\u9762\u4e34\u6311\u6218\uff0c\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u4f5c\u8005\u62c6\u5206\u4e86\u5927\u89c4\u6a21\u641c\u7d22\u573a\u666f\u4ee5\u6574\u5408\u672c\u5730\u4fe1\u606f\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u57fa\u4e8e MARL \u7684\u65e0\u4eba\u673a\u96c6\u7fa4\u641c\u7d22\u65b9\u6cd5\uff0c\u4ee5\u5728\u65e0\u4eba\u673a\u96c6\u7fa4\u641c\u7d22\u573a\u666f\u4e2d\u5b9e\u73b0\u826f\u597d\u7684\u53ef\u6269\u5c55\u6027\u548c\u6548\u7387\u3002<\/p>\n\n\n\n<p>1.\u63d0\u51fa\u4e86\u4e00\u79cd\u5c06\u5927\u89c4\u6a21\u641c\u7d22\u573a\u666f<strong>\u5206\u5272<\/strong>\u4e3a\u591a\u4e2a\u5c40\u90e8\u641c\u7d22\u533a\u57df\u7684\u65b9\u6cd5\uff0c\u4ee5<strong>\u5206\u5e03\u5f0f\u65b9\u5f0f<\/strong>\u63d0\u9ad8\u65e0\u4eba\u673a\u7fa4\u4f53\u7684\u641c\u7d22\u6548\u7387\u3002<\/p>\n\n\n\n<p>2.\u5c06\u641c\u7d22\u4f18\u5316\u95ee\u9898\u5efa\u6a21\u4e3a<strong>\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b<\/strong>(MDP)\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8eMARL\u7684\u65e0\u4eba\u673a\u7fa4\u4f53\u641c\u7d22\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u5728\u5927\u89c4\u6a21\u987a\u5e8f\u641c\u7d22\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u4f4e\u65f6\u95f4\u590d\u6742\u5ea6\u548c\u9ad8\u534f\u4f5c\u6548\u7387\u3002<\/p>\n\n\n\n<p>3.\u901a\u8fc7\u7ed3\u5408<strong>CNN<\/strong>\uff0c\u6539\u8fdb\u4e86<strong>MADDPG<\/strong>\u7b97\u6cd5\u7684\u7f51\u7edc\u6a21\u578b\uff0c\u6709\u6548\u5730\u5904\u7406\u4e86\u9ad8\u7ef4\u5730\u56fe\u4fe1\u606f\u3002<\/p>\n\n\n\n<p><strong>\u4e09\u3001\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>1.\u7cfb\u7edf\u6a21\u578b\u548c\u95ee\u9898\u8868\u8ff0<\/p>\n\n\n\n<p>\u5b9e\u9a8c\u73af\u5883\u662f\u4e00\u4e2a\u9700\u8981\u63a2\u7d22\u7684\u6df7\u5408\u5927\u5c0f\u7684\u641c\u7d22\u533a\u57df\uff0c\u8be5\u533a\u57df\u6709\u4e00\u961f\u65e0\u4eba\u673a\u548c\u591a\u4e2a\u76ee\u6807\u3002\u65e0\u4eba\u673a\u7684\u4efb\u52a1\u662f\u5728\u5c3d\u53ef\u80fd\u77ed\u7684\u65f6\u95f4\u5185\u641c\u7d22\u8be5\u533a\u57df\u5e76\u627e\u5230\u6240\u6709\u76ee\u6807\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"592\" height=\"577\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-81.png\" alt=\"\" class=\"wp-image-1750\" style=\"width:291px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-81.png 592w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-81-300x292.png 300w\" sizes=\"auto, (max-width: 592px) 100vw, 592px\" 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class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"518\" height=\"99\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-86.png\" alt=\"\" class=\"wp-image-1758\" style=\"width:419px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-86.png 518w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-86-300x57.png 300w\" sizes=\"auto, (max-width: 518px) 100vw, 518px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c<strong>u<sub>x,y<\/sub>(t)<\/strong>\u8868\u793a\u5f53\u524d\u533a\u57df\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u968f\u7740\u65e0\u4eba\u673a\u641c\u7d22\u65f6\u95f4\u53d8\u5316\uff0c\u5373\u641c\u7d22\u533a\u7684\u4e0d\u786e\u5b9a\u6027\u4f1a\u968f\u65e0\u4eba\u673a\u641c\u7d22\u800c\u964d\u4f4e\uff0c\u540c\u65f6\u76ee\u6807\u6982\u7387\u4e5f\u4f1a\u66f4\u65b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"460\" height=\"117\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-82.png\" alt=\"\" class=\"wp-image-1754\" style=\"width:393px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-82.png 460w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-82-300x76.png 300w\" sizes=\"auto, (max-width: 460px) 100vw, 460px\" \/><\/figure>\n\n\n\n<p>UAV\u79fb\u52a8\uff1a\u7531\u4e8e\u56fa\u5b9a\u673a\u7ffc\uff0cUAV\u6bcf\u6b21\u53ea\u80fd\u79fb\u52a8\u5230\u5f53\u524d\u5bf9\u51c6\u65b9\u5411\u7684\u4e09\u4e2a\u76f8\u90bb\u5355\u5143\u683c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"580\" height=\"532\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-87.png\" alt=\"\" class=\"wp-image-1759\" style=\"width:314px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-87.png 580w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-87-300x275.png 300w\" sizes=\"auto, (max-width: 580px) 100vw, 580px\" \/><\/figure>\n\n\n\n<p>\u65e0\u4eba\u673a\u641c\u7d22\u4f18\u5316\u51fd\u6570\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"375\" height=\"51\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-88.png\" alt=\"\" class=\"wp-image-1760\" style=\"width:301px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-88.png 375w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-88-300x41.png 300w\" sizes=\"auto, (max-width: 375px) 100vw, 375px\" 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height=\"690\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-90.png\" alt=\"\" class=\"wp-image-1764\" style=\"width:294px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-90.png 564w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-90-245x300.png 245w\" sizes=\"auto, (max-width: 564px) 100vw, 564px\" \/><\/figure>\n\n\n\n<p>\u5728\u641c\u7d22\u8fc7\u7a0b\u4e2d\uff0c\u6bcf\u67b6\u65e0\u4eba\u673a\u5728 TPM \u53ca\u5176\u4f20\u611f\u5668\u7684\u5e2e\u52a9\u4e0b\u63a2\u7d22\u641c\u7d22\u73af\u5883\u3002\u6b64\u5916\uff0c\u6bcf\u67b6\u65e0\u4eba\u673a\u90fd\u53ef\u4ee5\u76f8\u4e92\u901a\u4fe1\uff0c\u4ee5\u4fbf\u83b7\u5f97\u5176\u4ed6\u4eba\u7684\u4f4d\u7f6e\u548c\u6700\u65b0\u7684 TPM\u3002\u65e0\u4eba\u673a&nbsp;u&nbsp;\u5728\u65f6\u95f4\u6bb5&nbsp;t&nbsp;\u7684\u89c2\u6d4b&nbsp;O<sup>t<\/sup><sub>u<\/sub>&nbsp;\u5b9a\u4e49\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"391\" height=\"57\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-94.png\" alt=\"\" class=\"wp-image-1768\" style=\"width:281px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-94.png 391w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-94-300x44.png 300w\" sizes=\"auto, (max-width: 391px) 100vw, 391px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2dD<sup>t<\/sup>\u662f\u5f53\u524dt\u65f6\u523b\u7684\u672c\u5730\u4fe1\u606f\uff0cP<sup>t<\/sup>\u8868\u793a\u5f53\u524d\u6700\u65b0\u7684 TPM\uff0cloc<sup>t<\/sup><sub>u<\/sub>\u662f\u65e0\u4eba\u673a&nbsp;u&nbsp;\u5728t\u65f6\u523b\u7684\u4f4d\u7f6e \uff0cu\u00af\u4ee3\u8868\u9664\u65e0\u4eba\u673a\u4e4b\u5916\u7684\u6240\u6709\u65e0\u4eba\u673a&nbsp;u\uff0cdir<sup>t<\/sup><sub>u<\/sub>\u662f\u65e0\u4eba\u673a\u7684\u98de\u884c\u65b9\u5411&nbsp;u&nbsp;\u3002\u6839\u636e\u89c2\u5bdf\uff0c\u6bcf\u4e2a UAV \u9009\u62e9\u8981\u6267\u884c\u7684\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p>\u9009\u62e9<strong> MADDPG<\/strong> \u7b97\u6cd5\u6765\u786e\u5b9a\u6bcf\u4e2a UAV \u7684\u52a8\u4f5c\uff1a<\/p>\n\n\n\n<p>\u4f20\u7edf MARL \u4e2d\u4f7f\u7528\u7684\u7f51\u7edc\u6a21\u578b\u901a\u5e38\u662f\u591a\u5c42\u611f\u77e5 \uff08MLP\uff09\uff0c\u5b83\u5305\u542b\u4e09\u4e2a\u5c42\uff1a\u8f93\u5165\u5c42\u3001\u9690\u85cf\u5c42\u548c\u8f93\u51fa\u5c42\u3002MLP \u4e2d\u7684\u6bcf\u4e00\u5c42\u90fd\u662f\u5b8c\u5168\u8fde\u63a5\u548c\u7ebf\u6027\u7684\u3002\u7136\u800c\uff0c\u5728\u641c\u7d22\u73af\u5883\u4e2d\uff0c\u7f51\u683c\u56fe\u662f\u4ee3\u7406\u4e2d\u89c2\u5bdf\u7684\u4e00\u90e8\u5206\uff0c\u662f\u4e00\u4e2a\u4e8c\u7ef4\u77e9\u9635\u3002\u5982\u679c\u5c06\u5176\u76f4\u63a5\u6269\u5c55\u5230\u4e00\u4e2a\u7ef4\u5ea6\uff0c\u5219\u76f8\u90bb\u5c42\u4e4b\u95f4\u7684\u5173\u7cfb\u53ef\u80fd\u4f1a\u51cf\u5f31\u3002\u4e3a\u4e86\u5c3d\u53ef\u80fd\u4fdd\u7559\u539f\u59cb\u89c2\u6d4b\u4fe1\u606f\uff0c\u91c7\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u5728MADDPG\u4e2d\u6784\u5efa\u7f51\u7edc\u6a21\u578b\u3002\u5982\u56fe\uff0cMADDPG \u7684\u7f51\u7edc\u6a21\u578b\u5305\u542b\u4e24\u79cd\u8f93\u5165\u3002CNN \u6a21\u578b\u63a5\u6536\u7f51\u683c\u5730\u56fe\u4fe1\u606f\uff0c\u5e76\u4f7f\u7528\u4e09\u4e2a\u5377\u79ef\u5c42\u548c\u4e00\u4e2a\u6241\u5e73\u5316\u5c42\u5904\u7406\u6570\u636e\u3002\u7136\u540e\uff0c\u4e00\u7ef4\u8f93\u51fa\u4e0e\u5176\u4ed6\u6570\u636e\u62fc\u63a5\u5728\u4e00\u8d77\u3002\u6700\u540e\uff0c\u62fc\u63a5\u540e\u7684\u6570\u636e\u7531\u4e24\u4e2a\u5168\u8fde\u63a5\u5c42\u5904\u7406\uff0c\u5e76\u8f93\u51fa one-hot \u7684 action \u5411\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"585\" height=\"445\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-96.png\" alt=\"\" class=\"wp-image-1771\" style=\"width:422px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-96.png 585w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-96-300x228.png 300w\" sizes=\"auto, (max-width: 585px) 100vw, 585px\" \/><\/figure>\n\n\n\n<p><strong>\u56db\u3001\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u53c2\u6570\u8bbe\u7f6e\uff1a<\/p>\n\n\n\n<p>\u5728\u6a21\u62df\u573a\u666f\u4e2d\uff0c\u7f51\u683c\u56fe\u7684\u5927\u5c0f\u8bbe\u7f6e\u4e3a&nbsp;50\u00d750&nbsp;\u5355\u5143\u683c\uff0c\u5176\u4e2d\u5148\u9a8c\u4fe1\u606f\u4e3a none&nbsp;\u3002\u4e09\u67b6\u65e0\u4eba\u673a\u5728\u7f51\u683c\u56fe\u4e2d\u968f\u673a\u5206\u5e03\u3002\u76ee\u6807\u7684\u6570\u91cf\u8bbe\u7f6e\u4e3a\u4e0d\u540c\u7684\u503c&nbsp;10,20,30,40&nbsp;\uff0c\u4ee5\u6307\u793a\u6240\u5efa\u8bae\u7b97\u6cd5\u7684\u6cdb\u5316\u3002\u6b64\u5916\uff0c\u65e0\u4eba\u673a\u4e0d\u77e5\u9053\u76ee\u6807\u7684\u4f4d\u7f6e\u3002\u65e0\u4eba\u673a\u7ecf\u8fc7 5000 \u6b65\u8bad\u7ec3\uff0c\u7136\u540e\u5728\u6ca1\u6709\u5176\u4ed6\u4fe1\u606f\u7684\u60c5\u51b5\u4e0b\u5f00\u59cb\u63a2\u7d22\u65b0\u73af\u5883\u3002\u4e3a\u4e86\u51cf\u5c11\u5076\u7136\u6027\uff0c\u663e\u793a\u7684\u6570\u636e\u662f 100 \u4e2a\u5b9e\u9a8c\u7ed3\u679c\u7684\u5e73\u5747\u503c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"620\" height=\"250\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-113.png\" alt=\"\" class=\"wp-image-1796\" style=\"width:526px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-113.png 620w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-113-300x121.png 300w\" sizes=\"auto, (max-width: 620px) 100vw, 620px\" \/><\/figure>\n\n\n\n<p>\u6548\u679c\u8bc4\u4f30\uff1a<\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u6240\u63d0\u51fa\u7684\u57fa\u4e8e MADDPG \u7684\u641c\u7d22\u65b9\u6cd5\u7684\u6027\u80fd\uff0c\u4f5c\u8005\u5e94\u7528\u4e86\u4e24\u79cd\u65b9\u6cd5\u4e0e\u5176\u8fdb\u884c\u6bd4\u8f83\u3002<\/p>\n\n\n\n<p><strong><em>DQN<\/em><\/strong>:\u57fa\u4e8e DQN \u7684\u65e0\u4eba\u673a\u96c6\u7fa4\u641c\u7d22\u65b9\u6cd5\u3002\u6bcf\u4e2a UAV \u90fd\u88ab\u89c6\u4e3a\u4e00\u4e2a\u90e8\u7f72 Q \u7f51\u7edc\u6a21\u578b\u7684\u4ee3\u7406\u3002\u89c2\u5bdf\u548c\u5956\u52b1\u8bbe\u7f6e\u4e0e MADDPG \u76f8\u540c\u3002DQN \u6a21\u578b\u7684\u7ed3\u6784\u7c7b\u4f3c\u4e8e MADDPG \u4e2d\u7684\u4ef7\u503c\u7f51\u7edc\u6a21\u578b\u3002\u533a\u522b\u5728\u4e8e\uff0cDQN \u4e2d\u503c\u7f51\u7edc\u7684\u8f93\u5165\u662f\u4ee3\u7406\u7684\u5c40\u90e8\u89c2\u5bdf\u503c\uff0c\u800c MADDPG \u4e2d\u503c\u7f51\u7edc\u7684\u8f93\u5165\u662f\u6240\u6709\u4ee3\u7406\u7684\u5168\u5c40\u72b6\u6001\u3002<\/p>\n\n\n\n<p><strong><em>ACO<\/em><\/strong>:\u57fa\u4e8e ACO \u7684\u65e0\u4eba\u673a\u96c6\u7fa4\u641c\u7d22\u65b9\u6cd5\u3002\u5728\u641c\u7d22\u73af\u5883\u4e2d\uff0c\u65e0\u4eba\u673a\u901a\u8fc7\u4fe1\u606f\u7d20\u8868\u9009\u62e9\u5176\u64cd\u4f5c\uff0c\u8be5\u8868\u5177\u6709<em> <strong>size&nbsp;3<\/strong><\/em><strong>\u00d7(<em>D<sub>X<\/sub><\/em>\u00d7<em>D<sub>Y<\/sub><\/em>)\u00d7<em>U<\/em><\/strong>&nbsp;\u7684\u4e09\u7ef4\u77e9\u9635\uff0c\u5176\u4e2d\u8fd9\u4e9b\u7ef4\u5ea6\u8868\u793a\u4e3a\u64cd\u4f5c\u6570\u3001\u7f51\u683c\u56fe\u548c UAV&nbsp;\u6570\u3002<\/p>\n\n\n\n<p>MADDPG\u4e0eDQN \u603b\u4f53\u5956\u52b1\u7684\u6536\u655b\u6027\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"588\" height=\"421\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-115.png\" alt=\"\" class=\"wp-image-1800\" style=\"width:411px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-115.png 588w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-115-300x215.png 300w\" sizes=\"auto, (max-width: 588px) 100vw, 588px\" \/><\/figure>\n\n\n\n<p>\u4e09\u79cd\u65b9\u6cd5\u5728\u4e0d\u540c\u6b65\u9aa4\u6570\u4e0b\u5b9e\u73b0\u7684\u8986\u76d6\u7387:<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"588\" height=\"437\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-117.png\" alt=\"\" class=\"wp-image-1802\" style=\"width:397px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-117.png 588w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-117-300x223.png 300w\" sizes=\"auto, (max-width: 588px) 100vw, 588px\" \/><\/figure>\n\n\n\n<p>\u91cd\u590d\u7387\uff08\u5728\u63a2\u7d22\u8fc7\u7a0b\u4e2d\u5bf9\u5148\u524d\u641c\u7d22\u533a\u57df\u91cd\u590d\u8bbf\u95ee\u7684\u767e\u5206\u6bd4\uff0c\u662f\u8861\u91cf\u641c\u7d22\u7b97\u6cd5\u6548\u7387\u7684\u91cd\u8981\u6307\u6807\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"588\" height=\"433\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-120.png\" alt=\"\" class=\"wp-image-1805\" style=\"width:384px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-120.png 588w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-120-300x221.png 300w\" sizes=\"auto, (max-width: 588px) 100vw, 588px\" \/><\/figure>\n\n\n\n<p>\u627e\u5230\u76ee\u6807\u6570\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"585\" height=\"430\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-121.png\" alt=\"\" class=\"wp-image-1806\" style=\"width:381px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-121.png 585w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-121-300x221.png 300w\" sizes=\"auto, (max-width: 585px) 100vw, 585px\" \/><\/figure>\n\n\n\n<p>\u4f7f\u7528\u4e0d\u540c\u6570\u91cf\u7684Agent\u627e\u5230\u7684\u76ee\u6807\u6570\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"585\" height=\"437\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-124.png\" alt=\"\" class=\"wp-image-1809\" style=\"width:383px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-124.png 585w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2024\/11\/image-124-300x224.png 300w\" sizes=\"auto, (max-width: 585px) 100vw, 585px\" \/><\/figure>\n\n\n\n<p>\u603b\u4f53\u800c\u8a00\uff0c\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5728\u534f\u540c\u591a\u65e0\u4eba\u673a\u641c\u7d22\u573a\u666f\u4e2d\uff0c\u6587\u7ae0\u6240\u63d0\u65b9\u6cd5\u7684\u6027\u80fd\u4f18\u4e8e\u57fa\u4e8e DQN \u548c\u57fa\u4e8e ACO 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