无人机仿鸟群协同控制发展现状及关键技术

Development status and key technologies of cooperative control of bird-inspired UAV swarms

无人机(UAV)集群已在灾害救援、侦察监视、反恐维稳等领域得到了广泛应用,以“集群智能”技术为主的高度自主智能化无人机集群已成为世界各国的关注热点。鸟群具有高自主性和鲁棒性的特点,仿鸟群智能行为,将其行为规律映射到无人机集群系统,是解决无人机集群协同控制难题的重要手段。为更好指导无人机集群技术及理论创新,对无人机仿鸟群协同控制发展现状、关键技术和未来发展展开综述。首先,介绍国内外无人机集群典型项目及主要进展;其次,从内部结构—交互方式—行为机制3个层次梳理鸟群研究现状,总结了仿鸟群分层控制、仿鸟群交互控制和仿鸟群行为控制3项无人机仿鸟群协同控制关键技术及面临的挑战;再次,面向无人机集群协同控制发展需求,提出无人机仿鸟群行为相变控制技术;最后,展望无人机仿鸟群协同控制未来趋势,以期为未来无人机集群发展提供思路和依据。

Unmanned Aerial Vehicle(UAV)swarms have been widely used in disaster relief,reconnaissance and surveillance,anti-terrorism and stability maintenance and many other fields,and highly autonomous intelligent UAV swarms based on“swarm intelligence”have become a hot spot all over the world.Birds have the characteristics of high autonomy and robustness;therefore,it is an important way to solve the cooperative control problems of UAVS swarms by mapping the birds’behavior rules to UAVS swarm systems.In order to better guide the innovation of technology and theory of UAV swarms,this paper summarizes the research status,key technologies and future development of cooperative control of bird-inspired UAV swarms.Firstly,typical projects and main progress of UAV swarms at home and abroad are introduced.Secondly,the development status of bird flocks is reviewed from three levels:internal structures,interaction rules and behavior mechanisms.Besides,the research status and challenges of cooperative control of bird-inspired UAV swarms is summarized and analyzed in bird-inspired hierarchical control,bird-inspired interaction control and bird-inspired behavior control,respectively.Then,for the future development of cooperative control of UAV swarms,a new technology,which is called phase transition control of swarm behavior for bird-inspired UAV swarms,is proposed.Finally,the trend of cooperative control of bird-inspired UAV swarms is prospected,to provide ideas and basis for the development of UAV swarms in the future.