无人机群布散运动模型研究

Dispersion Motion Model of UAV Swarm

无人机集群运动技术中,布散模型是一项非常重要的研究内容。研究无人机的布散模型时,最重要的工作就是建立每个无人机的运动方程。在建立无人机二维平面内质点运动方程的基础上,设计了虚拟恒定引力、边界力、Lennard-Jones分子力来对模拟无人机在散开运动中的受力,以实现无人机整体运动的趋向性和避免碰撞的要求。通过对运动方程求数值解获得的仿真结果看出,建立的运动模型可以实现无人机在一定范围内散开,并保持运动趋向性和避撞性。

The dispersion model is a very important issue in UAV swarm technology. In the research of dispersion model of UAVs,the most important effort should be exerted on building the motion equations for each UAV. Based on modeling the 2D centroid motion equations for the UAVs,virtual constant gravitationboundary force and Lennard-Jones molecular force are designed to simulate the forces acted on the UAVs in dispersion,which aims to satisfy the requirements of alignment and obstacle avoidance. The simulation results obtained from numerical outcome of motion equations showed that,the dispersion model helps the swarm numbers to maintain a safe distance from each other and ensures that they can fly in a rough uniform direction.