MUTS-Based Cooperative Target Stalking for A Multi-USV System

doi:10.1109/JAS.2022.106007

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	MUTS-Based Cooperative Target Stalking for A Multi-USV System
	Chengcheng Wang; Yulong Wang; Qing-Long Han; Yunkai Wu
刊名	IEEE/CAA Journal of Automatica Sinica
	2023
卷号	10 期号:7 页码:1582-1592
关键词	Cooperative target stalking improved deep reinforcement learning multi-unmanned surface vehicle (multi-USV) systems V-type probabilistic data extraction
ISSN号	2329-9266
DOI	10.1109/JAS.2022.106007
英文摘要	This paper is concerned with the cooperative target stalking for a multi-unmanned surface vehicle (multi-USV) system. Based on the multi-agent deep deterministic policy gradient (MADDPG) algorithm, a multi-USV target stalking (MUTS) algorithm is proposed. Firstly, a V-type probabilistic data extraction method is proposed for the first time to overcome shortcomings of the MADDPG algorithm. The advantages of the proposed method are twofold: 1) it can reduce the amount of data and shorten training time; 2) it can filter out more important data in the experience buffer for training. Secondly, in order to avoid the collisions of USVs during the stalking process, an action constraint method called Safe DDPG is introduced. Finally, the MUTS algorithm and some existing algorithms are compared in cooperative target stalking scenarios. In order to demonstrate the effectiveness of the proposed MUTS algorithm in stalking tasks, mission operating scenarios and reward functions are well designed in this paper. The proposed MUTS algorithm can help the multi-USV system avoid internal collisions during the mission execution. Moreover, compared with some existing algorithms, the newly proposed one can provide a higher convergence speed and a narrower convergence domain.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/51995]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Chengcheng Wang,Yulong Wang,Qing-Long Han,et al. MUTS-Based Cooperative Target Stalking for A Multi-USV System[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(7):1582-1592.
APA	Chengcheng Wang,Yulong Wang,Qing-Long Han,&Yunkai Wu.(2023).MUTS-Based Cooperative Target Stalking for A Multi-USV System.IEEE/CAA Journal of Automatica Sinica,10(7),1582-1592.
MLA	Chengcheng Wang,et al."MUTS-Based Cooperative Target Stalking for A Multi-USV System".IEEE/CAA Journal of Automatica Sinica 10.7(2023):1582-1592.