72677

Автор(ы): 

Автор(ов): 

3

Параметры публикации

Тип публикации: 

Статья в журнале/сборнике

Название: 

Neural network algorithm for intercepting targets moving along known trajectories by a Dubins’ car

ISBN/ISSN: 

0005-1179

DOI: 

10.25728/arcRAS.2023.21.74.001

Наименование источника: 

  • Automation and Remote Control

Обозначение и номер тома: 

Vol. 84, No. 3

Город: 

  • Москва

Издательство: 

  • Trapeznikov Institute of Control Sciences, Russian Academy of Sciences

Год издания: 

2023

Страницы: 

221–236
Аннотация
The task of intercepting a target moving along a rectilinear or circular trajectory by a Dubins’ car is formulated as a problem of time-optimal control with an arbitrary direction of the car’s velocity at the time of interception. To solve this problem and to synthesize interception trajectories, neural network methods of unsupervised learning based on the Deep Deterministic Policy Gradient algorithm are used. The analysis of the obtained control laws and interception trajectories is carried out in comparison with the analytical solutions of the interception problem. Mathematical modeling of the target motion parameters, which the neural network had not previously seen during training, is carried out. Model experiments are conducted to test the stability of the neural solution. The effectiveness of using neural network methods for the synthesis of interception trajectories for given classes of target movements is shown.

Библиографическая ссылка: 

Галяев А.А., Насонов И.А., Медведев А.И. Neural network algorithm for intercepting targets moving along known trajectories by a Dubins’ car // Automation and Remote Control. 2023. Vol. 84, No. 3. С. 221–236.