PPO-Optimized LQR controller for Unmanned Ground Target Vehicles

In recent years, unmanned ground vehicles (UGVs) have advanced rapidly, attracting significant attention for their applications in modern military operations, particularly as target vehicles. Their ability to perform realistic combat maneuvers relies heavily on formation control, a key technology in this domain. This paper presents a novel formation control framework aimed at improving the accuracy and stability of dynamic formations for such vehicles. Building upon an enhanced leader-follower s