2024
DOI: 10.3390/drones8080378
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Reinforcement-Learning-Based Multi-UAV Cooperative Search for Moving Targets in 3D Scenarios

Yifei Liu,
Xiaoshuai Li,
Jian Wang
et al.

Abstract: Most existing multi-UAV collaborative search methods only consider scenarios of two-dimensional path planning or static target search. To be close to the practical scenario, this paper proposes a path planning method based on an action-mask-based multi-agent proximal policy optimization (AM-MAPPO) algorithm for multiple UAVs searching for moving targets in three-dimensional (3D) environments. In particular, a multi-UAV high–low altitude collaborative search architecture is introduced that not only takes into a… Show more

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