基于群体熵度量的无人机集群目标合围控制

Target enclosing control of multiple unmanned aerial vehicles based on crowd entropy

针对受限环境中无人机集群的目标合围控制问题,提出了一种基于局部度量距离交互的分布式集群目标合围控制方法.首先,基于局部度量距离交互机制确定了每架无人机的时变邻域无人机集合,采用光滑成对交互势函数设计了集群内部无人机间的交互势函数、无人机与飞行环境中障碍间的交互势函数以及无人机与目标无人机间的交互势函数.在此基础上,基于自组织原则提出了分布式的无人机集群目标合围控制律,使无人机集群能够以指定环绕半径形成以目标无人机为中心的稳定α-晶格合围构型,对目标无人机进行合围和跟踪,同时使无人机避开飞行环境中的障碍,保障自身飞行安全.然后借助Lyapunov稳定性理论证明了集群系统的稳定性,并给出了集群系统内部无人机发生碰撞的条件以及合围构型参数的取值依据.此外,基于群体熵的概念尝试对无人机集群目标合围过程中的自组织水平进行度量.最后通过仿真来验证所提出算法的有效性.

In this study,the target enclosing problem of multiple unmanned aerial vehicles(UAVs)is investigated,and a distributed swarm target enclosing control protocol based on the local metric-distance communication is presented.First,the neighborhood of UAVs for each UAV is determined on the basis of metric-distance communications,and the inner interaction potential function of UAVs within a swarm,the interaction potential function between UAVs and obstacles in a flight environment,and the interaction potential function between UAVs and the target UAV are designed on the basis of a smooth pairwise potential function.Then,the distributed swarm target enclosing control protocol based on a self-organizing principle is developed,which makes the UAVs form a stable α-lattice enclosure configuration centered on the target UAV with a specified radius.Meanwhile,all UAVs can avoid obstacles in a flight environment,guaranteeing their flight safety.After that,the stability of the swarm system is validated by the Lyapunov stability theorem,and the condition of collision and the range of the enclosing configuration parameters are given.In addition,the concept of crowd entropy is used to measure the self-organization level of the swarm.Finally,the effectiveness of the proposed algorithm is verified by simulation.