Dynamic Path Planning for Multiple UAVs with Incomplete Information

Abstract

To address the dynamic path planning for multiple UAVs using incomplete information, this paper studies real-time conflict detection and intelligent resolution methods. When the UAVs execute the task under the condition of incomplete information, the mission strategy of different UAVs may conflict with each other due to the difference in target, departure place, time and other factors. Based on the multi-agent deep deterministic policy gradient algorithm (MADDPG), we designed new global reward and partial local reward functions for the UAVs’ path planning and named the improved algorithm as a complex memory driver-MADDPG (CMD-MADDPG). Thus, the trained UAVs can effectively and efficiently perform path planning tasks in conditions of incomplete information (each UAV does not know its reward function and so on). Finally, the simulation verifies that the proposed method can realize fast and accurate dynamic path planning for multiple UAVs.