Strike Strategy Planning Method of Unmanned Ground Vehicles Based on Improved PPO Algorithm

Authors

Bingkun Wang, Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China
Yue Wang, Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China
Mei Yang, College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Pengnian Zhang, Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China
Bohao Fan, Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China
Jie Tang, Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China

Abstract

Abstract: An improved PPO algorithm based on the hybrid action space and gated recurrent unit (GRU) is proposed to address the limitations of predefined strike rules in maximizing the hitting accuracy of unmanned ground vehicles and the difficult coupling and optimization of continuous motion planning and discrete strike decision-making. The environmental model and target model are built for the process of unmanned ground vehicles' strike missions, coupled with a three-layer model for unmanned ground vehicles that fuses kinematic constraints, situational awareness, and dynamic decision-making. Two distinct policy networks are employed, including the continuous motion planning network for path planning, and the discrete strike decision-making network for solving the strike decision-making problems in the process of strike location and target sequence selection. A GRU module is introduced to address the partially observable nature of the environment by inferring current states from historical observations. The simulation results show that this method can couple and optimize the path planning and strike decision-making of unmanned ground vehicles, improving the ability of unmanned ground vehicles to autonomously perform strike missions.

Recommended Citation

Wang, Bingkun; Wang, Yue; Yang, Mei; Zhang, Pengnian; Fan, Bohao; and Tang, Jie (2026) "Strike Strategy Planning Method of Unmanned Ground Vehicles Based on Improved PPO Algorithm," Journal of System Simulation: Vol. 38: Iss. 2, Article 10.
DOI: 10.16182/j.issn1004731x.joss.25-0486
Available at: https://dc-china-simulation.researchcommons.org/journal/vol38/iss2/10

First Page

372

Last Page

386

CLC

TP391.9; TJ812

Recommended Citation

Wang Bingkun, Wang Yue, Yang Mei, et al. Strike Strategy Planning Method of Unmanned Ground Vehicles Based on Improved PPO Algorithm[J]. Journal of System Simulation, 2026, 38(2): 372-386.

Corresponding Author

Wang Yue

DOI

10.16182/j.issn1004731x.joss.25-0486