基于规则的无人机集群飞行与规避协同控制

Cooperative flight and evasion control of UAV swarm based on rules

针对已有方法在大规模集群系统控制方面的不足,提出一种基于规则的无人机集群系统飞行与规避自主协同控制方法。受群智能思想启发,定义集群内无人机成员的基本飞行规则,实现无人机集群正常飞行和队形重构,在此基础上,将规避动作作为一种新的飞行规则,通过设置相应的规则权重系数,建立整体和成员两种规避控制机制,最后基于线性反馈控制理论证明了无人机集群系统的稳定性。仿真结果表明,所提方法能够控制集群正常飞行并有效处理规避问题,同时具有良好的实时性。

Aiming to deal with the shortage of existed methods used in the control of large-scale swarm systems, an autonomous cooperative flight and evasion control method of unmanned aerial vehicle （UAV） swarm systems is put forward for UAV swarms based on rules. Inspired by the swarm intelligence, the basic flight rules of members in the UAV swarm are defined to realize the normal flight and formation reconfiguration. Then, the evasion is viewed as a new flight rule, and the group evasion mechanism and member evasion mechanism are built by setting corresponding rule weights. Finally, the stability of the UAV swarm systems is proved based on the linear feedback control. Simulation results indicate that the proposed method could realize the normal flight of the UAV swarm and solve the evasion problem efficiently, and the real-time performance is very good.