先验引导的时序融合多无人机协同避障航路规划方法

王傲; 李大鹏; 徐逸凡; 范炳阳; 韩光; 赵海涛

doi:10.11999/JEIT251231

先验引导的时序融合多无人机协同避障航路规划方法

doi: 10.11999/JEIT251231 cstr: 32379.14.JEIT251231

1.
南京邮电大学通信与信息工程学院南京 210003
2.
中国人民解放军陆军工程大学通信工程学院南京 210001
3.
南京邮电大学波特兰学院南京 210023

基金项目: 国家自然科学基金联合基金重点项目(U24B201873)，江苏省科技计划专项资金项目(BZ2025021)

详细信息

作者简介:
王傲：男，博士，研究方向为无人机航路规划与控制

李大鹏：男，教授，研究方向为无人群体智能控制通信一体化

徐逸凡：男，教授，研究方向信号：认知无线电、智能抗干扰

范炳阳：男，本科生，研究方向为无人群体智能通信

韩光：男，教授，研究方向为计算机视觉、具身智能和无线通信

赵海涛：男，教授，研究方向为无线通信与物联网领域

通讯作者:
李大鹏　dapengli@njupt.edu.cn

中图分类号: V249
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出版历程
- 修回日期: 2026-03-24
- 录用日期: 2026-03-24
- 网络出版日期: 2026-04-19

Prior-guided temporal fusion multi-UAV cooperative obstacle avoidance route planning

1.
School of Communications and Information Engineering, Nanjing University of Posts and Telecommunications, Nanjing 210003, China
2.
College of Communications Engineering, Army Engineering University of PLA, Nanjing 210001, China
3.
Portland Institute, Nanjing University of Posts and Telecommunications, Nanjing 210023, China

Funds: the Joint Funds for the National Natural Science Foundation of China under Grant U24B201873. The International Science and Technology Cooperation Program of Jiangsu Province under Grant BZ2025021

摘要

摘要: 针对多无人机自主协同避障航路规划任务中，传统多智能体强化学习算法存在的收敛速度慢，无人机协同性不足等问题，该文提出一种先验引导的时序融合价值分解算法—PGL-QMIX(Prior-Guided-LSTM-QMIX)。该方法在离线阶段利用A星(A*)算法生成全局参考路径，并在在线决策中仅提取智能体感知范围内的局部路径片段与几何评分作为弱先验，引导个体策略在部分可观测环境下实现稳定探索与协同避障。同时，设计了双重长短期记忆网络(LSTM)架构，用于建模先验知识与实时状态的时序依赖关系。并对各无人机的动作价值函数进行动态加权融合与自适应优化，提升系统的环境适应性与多无人机协同的稳定性。实验结果表明，所提方法在三维栅格场景中，相较于同场景下次优结果，所提方法的收敛步数分别减少3.0%、7.2% 和7.4%，稳态任务成功率分别提升1.26、4.41 和8.12 个百分点，平均航路长度分别缩短6.2%、8.5% 和10.0%，验证了该方法在多无人机自主协同避障航路规划中的有效性与稳定性。
- 多无人机 /
- 航路规划 /
- 深度强化学习 /
- 先验知识 /
- 协同避障
Abstract: Objective Traditional multi-agent reinforcement learning methods for multi-UAV navigation in cluttered 3D environments often suffer from slow convergence, weak coordination, and limited global awareness under partial observability. To address these issues, this paper proposes a prior-guided cooperative route-planning framework, termed Prior-Guided LSTM-QMIX (PGL-QMIX), which incorporates environment-derived heuristic scores instead of explicit reference trajectories. The objective is to reduce route length and collision risk while preserving real-time decision-making capability. Methods The multi-UAV route-planning task is formulated as a partially observable Markov game. Static environmental information, including obstacle distribution, free-space structure, and goal locations, is mapped into a heuristic scoring field, and the locally visible part of this field is fused with each UAV’s local observation. An individual-level LSTM is used to capture temporal dependencies in local perception, while a system-level LSTM-based mixing network dynamically generates the mixing weights and bias for value decomposition, enabling coordinated joint value estimation. Potential-based reward shaping is further introduced to improve training stability. Results and Discussions Simulation results in 3D grid environments show that PGL-QMIX converges faster and more stably than QMIX, VDN, and MAPPO. Compared with the baseline QMIX, it reduces the average route length by 8.8%, 12.3%, and 16.1%, improves convergence speed by 20.5%, 26.6%, and 38.1%, and increases the steady-state task success rate by 5.22, 14.99, and 37.25 percentage points in three scenarios, respectively. The generated trajectories are also shorter and more efficient across different map sizes. Conclusions PGL-QMIX improves coordination, safety, and route efficiency for multi-UAV cooperative obstacle avoidance in cluttered 3D environments. By combining heuristic prior guidance, recurrent temporal fusion, and value decomposition, the proposed method achieves faster convergence, higher success rates, and better generalization than existing baselines. Future work will consider real UAV dynamic constraints and communication-aware cooperative obstacle avoidance.
- Multi-Unmanned Aerial Vehicle /
- Route planning /
- Deep reinforcement learning /
- Prior knowledge /
- Collaborative obstacle avoidance

HTML全文

图 1 多无人机航路规划系统模型

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图 2 PGL-QMIX系统模型

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图 3 先验LSTM系统模型

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图 4 栅格仿真场景设置

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图 5 不同场景下7种算法奖励值对比

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图 6 不同场景下7种算法成功率对比

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图 7 20³场景下七种算法路径图(seed=42)

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图 9 40³场景下七种算法路径图(seed=42)

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图 8 30³场景下七种算法路径图(seed=42)

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图 10 算法平均路径长度

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Algorithm 1: PGL-QMIX(Prior-Guided LSTM-QMIX)训练流程
Input: 输入：回放池容量$ \mathcal{B} $，单回合长度$ T $；个体网络参数$ \left\{{\theta }_{i}\right\}_{i=1}^{N} $，系统层LSTM Mixer 参数$ {\theta }_{m} $，目标网络参数, $ \theta _{}^{-} $。
Output: 分散执行策略 $ {\pi }_{i}(a\mid {o}_{i}) $
1：离线先验生成(每次 reset 后执行一次)
2：从环境获得静态栅格 grid，对每个无人机 i 生成参考路径$ P_{i}^{ref} $
3：初始化：回放池 $ D\leftarrow \varnothing $；同步目标网络$ {\theta }^{-}\leftarrow \theta $
4： for 训练迭代
5：环境 reset，清零各智能体 RNN 隐状态$ {h}_{i} $，系统层隐状态 $ z $
6： for t=0,1,…, $ T-1 $do
7：　获取每个智能体局部观测$ {o}_{i}(t) $ 与位置$ {p}_{i}(t) $
8：　先验局部片段提取：$ \Omega _{t}^{(i)}=\{P_{j}^{i}\in P_{\text{ref}}^{i}\mid \\| P_{j}^{i}-{p}_{i}(t)\\| \leq {r}_{o}\}. $
9：　对$ \Omega _{t}^{(i)} $内节点基于式13计算评分 $ \omega _{j}^{(i)}(t) $
10：个体层时序编码，构造个体层输入：$ x_t^i = [{\mkern 1mu} {{\mathbf{o}}_i}(t);\;\omega _j^{(i)}(t)] $;
11：前向传播个体层 LSTM 得到时序特征 $ h_{t}^{i} $
12：基于式(15)计算个体Q值$ {h}_{i}(t), {Q}_{i}(t,\cdot )\leftarrow AgentLSTM({x}_{i}(t),{h}_{i}(t-1);{\theta }_{i}) $
13：系统层 LSTM 前向传播,生成隐藏状态$ {z}_{t} $；
14：由输出层生成时间相关权重$ {W}_{i}(t) $与偏置$ b(t) $
15：计算联合动作价值 $ {Q}_{\text{tot}}({h}_{t},{a}_{t};\theta ) $
16：依据贪心策略选择联合动作$ {a}_{t}=\{a_{t}^{1},\cdots ,a_{t}^{N}\} $；
17：执行联合动作$ {a}_{t} $，获得团队回报 $ {r}_{t} $ 和下一时刻观测；
18：将样本 $ ({h}_{t},{a}_{t},{r}_{t},{h}_{t+1}) $ 存入经验池$ \mathcal{B} $；
19： if done break
20： end for
21：参数更新(每若干步或每回合更新一次)：
22：从 $ \mathcal{B} $中随机采样小批量；
23：基于式21计算TD目标值：${Y_t} = R(t) + \gamma {Q_{{\text{tot}},t + {1^\prime }}}\left( {{h_{t + 1}},{\mkern 1mu} a_{t + 1}^*;{\mkern 1mu} {\theta ^ - }} \right)$
24：基于式20计算损失 $ {L}_{\theta }=\sum \limits_{t=0}^{T}{\left[{Y}_{t}-{Q}_{\textit{tot,t}}({h}_{\mathrm{t}},{a}_{t};\theta )\right]}^{2} $
25：反向传播并更新参数$ \theta \leftarrow \theta -\alpha {\nabla }_{\theta }\mathcal{L}(\theta ) $
26：目标网络同步：软更新目标网络$ {\theta }^{-}\leftarrow \tau \theta +(1-\tau ){\theta }^{-} $；
27： end for
28： return 训练好的网络参数 $ \theta $

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表 1 仿真超参数设置

实验参数	设置值
折扣因子$ \gamma $	0.99
经验回放池大小$ \mathcal{B} $	10000
批量大小	128
总训练步数	150000
单回合最大步数	200
最小探索率	0.01
学习率初值	$ 5\times {10}^{-4} $
优化器	Adam
激活函数	Relu
LSTM层	128单元
全连接层	128单元

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表 2 不同场景下收敛性能比较

实验场景	算法名称	AUC	稳态平均奖励%	收敛步数(w)
20³	PGL-QMIX	16.911	137.57	3.24
	No-Prior	16.321	134.25	3.74
	No-iLSTM	15.705	130.87	4.06
	No-sLSTM	16.125	130.89	3.34
	MAPPO	16.028	131.16	3.58
	QMIX	15.512	127.67	4.27
	VDN	14.356	127.46	4.62
30³	PGL-QMIX	25.406	209.87	3.36
	No-Prior	24.329	201.88	3.90
	No-iLSTM	23.887	197.42	3.96
	No-sLSTM	24.023	198.90	3.62
	MAPPO	23.922	199.37	3.92
	QMIX	23.032	198.46	4.64
	VDN	22.350	192.91	4.88
40³	PGL-QMIX	33.139	273.59	3.74
	No-Prior	32.127	269.02	4.24
	No-iLSTM	29.474	262.21	4.32
	No-sLSTM	32.017	267.05	4.04
	MAPPO	30.461	265.40	4.22
	QMIX	28.281	261.32	4.82
	VDN	26.819	253.85	6.08

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表 3 场景下任务成功率比较

实验场景	算法名称	首次80%成功率步数(W)	稳态平均奖励%	最高成功率%
20³	PGL-QMIX	4.14	95.73	100.0
	No-Prior	5.44	94.18	98.4
	No-iLSTM	5.28	89.10	98.4
	No-sLSTM	4.90	94.47	99.2
	MAPPO	4.88	93.23	99.2
	QMIX	5.14	90.50	98.4
	VDN	6.08	79.93	96.9
30³	PGL-QMIX	5.06	94.03	100.0
	No-Prior	8.50	87.92	96.9
	No-iLSTM	9.48	84.72	93.8
	No-sLSTM	5.72	89.62	96.9
	MAPPO	6.78	88.27	93.8
	QMIX	11.22	79.04	92.2
	VDN	8.98	66.47	84.4
40³	PGL-QMIX	5.64	92.92	100.0
	No-Prior	10.94	82.30	89.8
	No-iLSTM	14.08	74.76	82.0
	No-sLSTM	6.24	84.80	91.2
	MAPPO	9.88	84.73	89.8
	QMIX	-	57.67	65.6
	VDN	-	55.94	78.1

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表 4 不同场景下算法路径比较

实验场景	算法名称	最小障碍距离	平均障碍距离	机间最近距离	平均路径距离	最长路径距离
20³	PGL-QMIX	2.73	6.03	14.04	58.08	73.25
	No-Prior	2.41	5.93	12.71	61.95	94.75
	No-iLSTM	2.24	5.84	11.09	69.65	99.75
	No-sLSTM	2.24	5.51	11.46	68.84	97.25
	MAPPO	2.41	5.97	11.47	64.84	93.75
	QMIX	2.00	5.22	8.06	73.20	100.75
	VDN	1.71	5.11	6.20	76.73	108.25
30³	PGL-QMIX	2.41	6.54	17.26	92.41	119.25
	No-Prior	2.00	6.32	15.81	100.97	137.00
	No-iLSTM	1.41	5.62	13.85	107.30	156.50
	No-sLSTM	1.73	6.11	12.17	108.79	148.50
	MAPPO	2.00	6.21	16.14	101.84	141.50
	QMIX	1.41	5.41	11.52	114.56	156.25
	VDN	1.41	5.22	10.47	118.79	163.00
40³	PGL-QMIX	2.24	5.86	29.27	119.65	139.25
	No-Prior	1.73	5.08	20.35	134.65	147.25
	No-iLSTM	1.00	4.48	18.15	145.07	170.25
	No-sLSTM	1.41	4.88	17.46	139.07	159.25
	MAPPO	1.73	5.12	19.79	132.98	149.50
	QMIX	1.00	4.50	13.42	148.52	187.50
	VDN	1.00	3.80	12.17	153.71	200.00

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