Aiming at the problem that traditional heuristic algorithm is difficult to extract the empirical model in time from large sample terrain data, a multi-UAV collaborative path planning method based on attention reinforcement learning is proposed. The method draws on a combined consideration of influencing factors, such as survival probability, path length, and load balancing and endurance constraints, and works as a support system for multimachine collaborative optimizing. The attention neural network is used to generate the cooperative reconnaissance strategy of the UAV, and a large amount of simulation data is tested to optimize the attention network using the REINFORCE algorithm. Experimental results show that the proposed method is effective in solving the multi-UAV path planning issue with high real-time requirements, and the solving time is less than the traditional algorithms.
Multi-UAV Collaborative Path Planning Method Based on Attention Mechanism