基于度中心性牵制点选择的无人机蜂拥控制

UAV Swarm Flocking Control Based on Selection of Degree Centrality Pinning Nodes

为了研究无人机蜂拥控制中的蜂群稳定编队问题,提出了将多智能体牵制算法用于无人机蜂拥控制的构想。首先,对无人机蜂群进行了建模,并分析了牵制策略下无人机蜂拥运动特性;然后,提出了基于度中心性排序的子网多点牵制算法;最后,对该算法进行了仿真和对比,验证了无人机蜂群模型在无人机蜂拥控制应用中的合理性。仿真试验结果表明,当网络规模一定时,子网牵制节点越多其收敛速度越快,而当无人机数目达到一定程度时,随着牵制节点增多,其收敛速度提高不明显。

In order to study the swarm formation in the unmanned aerial vehicle(UAV)swarm flocking control,the idea of applying multi-agent pinning control algorithm to the flocking control of UAV is proposed.Firstly,the swarm of UAV is modeled and the swarm flocking movement characteristics of UAV under the pinning control strategy are analyzed.Then,the sub-net multi-nodes containment algorithm based on degree centrality sorting is proposed.Finally,the algorithm is simulated and compared to verify the rationality of UAV swarm model in UAV swarm flocking control.The simulation experimental results show that when the network size is constant,the more the subnet containment points,the faster the convergence speed will be,but when the number of UAV reaches a certain degree,the more the containment nodes increase,the less obvious the convergence speed will be.