基于生物智能的无人集群协同控制

Unmanned Swarm Cooperative Control Based on Biological Intelligence

通过研究生物集群分布式、自适应、鲁棒性的特征,以群体生物的行为特征和无人智能数据链应用为出发点,提出了一种改进型Vicesk模型,通过仿真验证了其信息共享和同步收敛的效率,基于改进型Vicesk模型参数设计编队协同控制器和无人机数据链协议MAVLink的集群消息帧扩展方案,结合无人集群突防攻击的典型作战场景和上述模型策略,设计有效的控制协议和信息收发流程,提升无人机群在拒止环境下的协同作战能力.

By studying the distributed,adaptive and robust characteristics of biological swarm,taking the behavioral characteristics of group organisms and applications of unmanned intelligent data link as the starting point,an improved Vicesk model is proposed,and its information sharing and synchronous convergence efficiency are verified by simulation.Based on the improved Vicesk model parameters,the cooperative controller and the swarm message frame expansion program of the UAV data link protocol(MAVLink)are designed,combing with the typical combat scenarios of unmanned swarm penetration attacks and the above model strategies.The control protocol and information sending and receiving process of the UAV can enhance the ability of UAV group to cooperate in the denial environment.