基于一致性协议的多无人机协同围捕控制方法

Cooperative capture control method for multi-UAV based on consensus protocol

针对无人机对运动目标的协同围捕问题,设计了一种快速协同围捕控制算法。首先,基于人工势场法设计了无人机与目标的动态博弈关系,使得目标的运动更加趋近于现实场景下逃跑者的行为模式。其次,利用无人机与目标的速度关系,将二维阿波罗尼奥斯圆扩展为三维阿波罗尼奥斯球,通过阿波罗尼奥斯球设计了无人机编队围捕队形。然后,将无人机获取的目标信息引入到一致性协议,以此来完成无人机编队对目标的协同编队围捕,并引入二跳网络加快围捕队形收敛,提高了无人机编队的任务执行效率。最终,通过仿真实验证明了该控制算法的有效性。

In view of the problem of unmanned aerial vehicle(UAV)cooperative capture of moving target,a fast cooperative capture control algorithm is designed.Firstly,the dynamic game relationship between UAVand target is designed based on the artificial potential field method,which makes the movement of target closer to the behavior pattern of the escapee in the real scene.Secondly,by using the velocity relationship between UAVand target,the two-dimensional Apollonius circle is extended to three-dimensional Apollonius ball,and the capture formation UAVformation is designed through the Apollonius ball.Then,the target information obtained by UAVis introduced into the consensus protocol to complete the cooperative formation capture of UAVformation,and the twOhop network is introduced to accelerate the convergence of the capture formation,which improves the task execution efficiency of UAVformation.Finally,the simulation experiment results show the effectiveness of the control algorithm.