多无人机联合自动围捕策略研究

Research on Multi-UAV Cooperative Automatic Hunting Strategy

该文提出从追捕问题研究无人机的协同作战能力,进而为协同追捕策略的研究提供仿真验证平台.首先,按照所受人工势场(APF)力的合力决定下一次移动的新位置坐标,根据动力学和运动学方程计算速度及方向;其次,利用"伸缩式"搜索方法搜索目标;最后,设计"势点"作为子目标的追捕决策,并进行了仿真验证.仿真验证该方法的有效性.

To study the UAV cooperative combating capability is through the hunting question, and then provides the simulation platform for the research of cooperative hunting strategy. First of all, the new location coordinates are decided in the next movement according to resultant force of artificial potential field （APF）, and then calculates the speed and direction by the Dynamics and Kinematics equations. Secondly, using ＂shrinking and expanding＂ searching method to search objectives. Finally, designing the ＂ potential points＂ as the hunting decision -making of subgoal and carrying out the simulation verification. Simulation verifies the effectiveness of the method.