基于合作博弈的多机冲突解脱算法

为解决低空无人机冲突解脱过程中个体支付成本不公平问题，提出了基于合作博弈“核仁解”概念的多机冲突解脱算法。针对低空多机冲突场景的特点，基于“核仁解”概念，建立无人机冲突解脱支付矩阵。结合人工势场法与蚁群算法的优点，提出基于人工势场法-蚁群算法(APF-ACO)的冲突解脱混合求解策略。仿真结果表明:综合计算时间、可行性与系统效率3个评价指标，APF-ACO混合求解策略效能最优；基于合作博弈“核仁解”的求解策略在一定程度上可提升个体公平性；同时能够在牺牲少量整体利益的前提下，拥有优先级无人机的快速规划达到目标。 

Multi-aircraft conflict resolution algorithm based on cooperative game

In order to solve the problem of inequity of individual cost in conflict resolution of low-altitude UAV, a multi-aircraft conflict resolution algorithm based on the concept of "nucleolus solution" in cooperative game is proposed. According to the characteristics of low-altitude multi-aircraft conflict scenarios, based on the "nucleolus solution" concept, the UAV conflict resolution payment matrix is established. Combined with the advantages of artificial potential field method and ant colony optimization, a hybrid conflict resolution strategy based on artificial potential field-ant colony optimization (APF-ACO) is proposed. The simulation results show that the APF-ACO hybrid solution strategy has the best performance by integrating the three evaluation indexes of calculation time, feasibility and system efficiency. The solution strategy based on cooperative game "nucleolus solution" can improve individual fairness to a certain extent. At the same time, the priority UAV can be quickly planned to achieve the goal at the expense of a small amount of overall benefits.