@inproceedings{00e98752fc4748558a8958c6434d3b89,
title = "A novel multi stage cooperative path re-planning method for multi UAV",
abstract = "When the multi-UAVs cooperatively attack multi-tasks, the dynamic changes of environments can lead to a failure of the tasks. So a novel path re-planning algorithm of multiple Q-learning based on cooperative fuzzy C means clustering is proposed. Our approach first reflects the dynamic changes of re-planning space by updating the fuzzy cooperative matrix. Then, the key way-points on the current global paths are used as the initial clustering centers for the cooperative fuzzy C means clustering, which generates the classifications of space points for multitasks. Furthermore, we use the classifications as the state space of each task and the fuzzy cooperative matrix as the reward function of the Q-learning. So a multi Q-learning algorithm is presented to synchronously re-plan the paths for multi-UAVs at every step. The simulation results show that the method subtracts the re-planning space of the tasks and improves the search efficiency of the learning algorithm.",
keywords = "Cooperative fuzzy C means clustering, Multi Q-learning, Multi-UAVs, Path re-planning",
author = "Su, \{Xiao Hong\} and Ming Zhao and Zhao, \{Ling Ling\} and Zhang, \{Yan Hang\}",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; 14th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2016 ; Conference date: 22-08-2016 Through 26-08-2016",
year = "2016",
doi = "10.1007/978-3-319-42911-3\_40",
language = "英语",
isbn = "9783319429106",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "482--495",
editor = "Richard Booth and Min-Ling Zhang",
booktitle = "Trends in Artificial Intelligence - 14th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2016, Proceedings",
address = "德国",
}