عنوان انگلیسی مقاله:
Cooperative control for swarming systems based on reinforcement learning in unknown dynamic environment
ترجمه فارسی عنوان مقاله:
کنترل مشارکتی برای سیستم های ازدحام مبتنی بر یادگیری تقویتی در یک محیط پویا ناشناخته
Sciencedirect - Elsevier - Neurocomputing, 410 (2020) 410-418. doi:10.1016/j.neucom.2020.06.038
Xuejing Lan a,b, Yiwen Liu a, Zhijia Zhao a,⇑
This paper discussed the cooperative control problem for swarming systems in unknown dynamic environment.
The swarm agents are required to move in a completely distributed manner with the reference
trajectory determined by a virtual dynamic leader. In addition to keeping an appropriate distance from
neighboring agents, each agent needs to avoid collision with dynamic threats in unknown environment.
All of these complex requirements are integrated and designed as the performance index function for
each agent. Then, the cooperative learning behavior of swarming system is realized by applying the reinforcement
learning theory. Neural networks are used to model the control scheme and trained to minimize
the performance index. The online updating rules of the neural networks are achieved based on the
gradient descent algorithm. Finally, two simulation experiments are performed to verify the effectiveness
of the cooperative control scheme and the environmental adaptability of the swarm agents.
Keywords: Swarming system | Cooperative control | Reinforcement learning | Neural networks | Dynamic threat