无人机通信网络动态联盟形成方法

Dynamic coalition formation among UAVs communication networks

无人机之间通过相互协作形成无人机网络以完成相应任务,现有研究较少考虑无人机的移动性所造成的无人机网络的拓扑结构变化而引起的通信方面的问题。本文将无人机网络在通信范围内的通信延迟最低作为目标,基于贝叶斯联盟博弈解决无人机的移动性所造成的的网络结构动态性,以及协作无人机的选择策略问题。在贝叶斯联盟博弈模型中,针对无人机的移动性,将无人机分为两种类型:协作行为的无人机和不协作行为的无人机。基于信念更新机制来帮助无人机观测其他无人机的行为并找到可能的联盟结构。仿真结果表明,由贝叶斯联盟博弈算法得到的通信延迟最小的无人机联盟结构是纳什稳定的。

Unmanned aerial vehicles（UAVs ） can cooperatively form a coalition to carry out tasks. However, due to the mobility of the UAVs, the structure of the network changes dynamically. The dynamic Bayesian coali- tional game model of UAVs network is proposed, in which the communication range and delay are considered. To deal with mobility of UAVs, two types of UAVs are analyzed., the well-behaved UAV who help transmit the target^s information and the misbehaving UAV who refuses to deliver the information. The belief update mechanism is introduced to judge the type of the UAV with the incomplete information to find possible coalition members. Simula- tions results show that the coalitional structure obtained by the Bayesian coalition algorithm is Nash-stable.