引用本文:邱华鑫,段海滨,范彦铭.基于鸽群行为机制的多无人机自主编队[J].控制理论与应用,2015,32(10):1298~1304.[点击复制]
Qiu Huaxin,Duan Haibin,Fan Yanming.Multiple unmanned aerial vehicle autonomous formation based on the behavior mechanism in pigeon flocks[J].Control Theory and Technology,2015,32(10):1298~1304.[点击复制]
基于鸽群行为机制的多无人机自主编队
Multiple unmanned aerial vehicle autonomous formation based on the behavior mechanism in pigeon flocks
摘要点击 5593  全文点击 3541  投稿时间：2015-04-18  修订日期：2015-06-07
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DOI编号  10.7641/CTA.2015.50314
  2015,32(10):1298-1304
中文关键词  无人机  编队控制  鸽群层级行为  有向图  人工势场
英文关键词  unmanned aerial vehicles  formation control  hierarchies in pigeons  digraph  potential field
基金项目  国家杰出青年科学基金项目(61425008), 国家自然科学基金重点项目(61333004), 国家自然科学基金面上项目(61273054), 中组部青年拔尖人才支 持计划项目(2013), 航空科学基金项目(2015ZA51013)资助
作者单位E-mail
邱华鑫 北京航空航天大学自动化科学与电气工程学院 飞行器控制一体化技术重点实验室 仿生自主飞行系统研究组 1498212817@qq.com 
段海滨* 北京航空航天大学自动化科学与电气工程学院 飞行器控制一体化技术重点实验室 仿生自主飞行系统研究组 hbduan@buaa.edu.cn 
范彦铭 中国航空工业集团公司 沈阳飞机设计研究所  
中文摘要
      受启发于无人机(unmanned aerial vehicle, UAV)编队飞行与生物群体社会性行为的相似性, 本文提出了一 种基于鸽群行为机制的多无人机自主编队控制方法. 首先通过模仿鸽群特有的层级行为, 建立了鸽群行为机制模 型. 该模型在已有群集模型基础上, 采用有向图和人工势场理论对鸽群中的拓扑结构和领导机制进行建模. 在深入 分析无人机自主编队飞行仿生机理的基础上, 设计了一种基于鸽群行为机制的无人机自主编队控制器. 该控制器 以鸽群行为机制模型为核心, 还包含两个辅助环节, 即控制指令解算器和状态转换器. 最后, 通过系列仿真实验验 证了无人机群可在本文所设计的无人机自主编队控制器作用下形成预期的编队队形, 并可在复杂长机运动条件下 保持队形.
英文摘要
      Inspired by the similarity between the unmanned aerial vehicle (UAV) formation flight and the social behavior of biological populations, we propose in this paper a method of autonomous formation control for multiple UAVs based on the mechanism in the pigeon flock. Firstly, the model of the pigeon behavior mechanism is built by mimicking the specific context-dependent hierarchies in pigeon flocks. It is based on the existing flock model, and the topological structure and leadership in pigeon flocks are modeled by using digraph and potential field theory, respectively. Then, the bionic mechanism of multiple UAV autonomous formation is analyzed further, and a formation keeping controller based on the pigeon flock behavior mechanism is designed. The controller, with the model of the pigeon behavior mechanism as the core, includes two assistant parts: the control instruction solver and the state transformer. Finally, a series of simulation results are given to show that the UAVs can form an expected flight formation with the designed controller, and keep the formation under serious conditions of complex leader motion.