This paper proposes a guidance system with a new hybrid architecture for multiple fixed-wing unmanned aerial vehicles (UAVs) formation flight. The proposed architecture is hybrid in the sense of combining two control policies found in guidance systems: the Decentralized Partially Observable Markov Decision Process (Dec-POMDP) policy and the well-known PID controller. The Dec-POMDP policy part enables every UAV to avoid collision with any other UAV from the formation. The PID part is activated for regions far from the collision risk zone and is implemented in such a way that each UAV is completely controlled by only its own data, independent of its neighbors. The major novelty of the proposed system, compared to other hybrid approaches, is its decentralized nature which favors overcoming the usual problems that come with centralization such as the high dependence on a central decision node, a leader, or a ground station. Inherited from both parts, the overall system performance is robust in noisy and uncertain environments. Simulations were extensively performed to show the effectiveness of the proposed guidance system in distinct scenarios.

本文提出了一种具有新型混合动力架构的制导系统，用于多种固定翼无人飞行器（UAV）编队飞行。从指导系统中发现的两种控制策略的角度出发，所提出的体系结构是混合的：分散的部分可观察的马尔可夫决策过程（Dec-POMDP）策略和著名的PID控制器。Dec-POMDP策略部分使每个UAV都可以避免与编队中的任何其他UAV相撞。PID部分在远离碰撞危险区的区域被激活，并且以这样的方式实现：每个UAV完全由其自身的数据完全控制，而与邻域无关。与其他混合方法相比，所提议系统的主要新颖之处在于，它的分散特性有助于克服集中化带来的常见问题，例如高度依赖中央决策节点，领导者或地面站。从这两个部分继承，整个系统的性能在嘈杂和不确定的环境中都很稳定。进行了广泛的仿真，以显示提出的制导系统在不同情况下的有效性。