基于非对称冲突区域的多无人机协同路径规划OA

To solve the problem that flight safety and operating rules were difficult to balance simultaneously in multi-UAV cooperative path planning in low-altitude integrated airspace,a multi-UAV cooperative path planning method inte-grating the asymmetric conflict region(ACR)and the soft actor-critic(SAC)algorithm was proposed.The main idea of the method was that a direction-biased hexagonal conflict region was constructed in the body frame of each UAV,and its geometric asymmetry was exploited to produce differentiated overlap penalties for different passing directions,by which the right-side avoidance,right-side overtaking and clockwise circulation rules were implicitly embedded into the reward signal.A centralized training with decentralized execution framework was adopted for policy learning and deployment.Simulation results show that,in the three typical conflict scenarios,the proposed method achieves a task success rate above 99.83％with the average number of conflicts approaching zero,and induces an orderly passing pattern of right-side avoidance,right-side overtaking,and clockwise circulation,thereby reducing the randomness of passing directions.