无人机的追逃对抗仿真研究

Simulation of pursuit-evasion among multi-UAV

中文关键词  代数图论  Laplacian矩阵  追逃对抗  协同控制

英文关键词  algebraic graph theory  Laplacian matrix  pursuit-evasion game  cooperative control

中文摘要

      代数图论方法较之微分对策建立的无人机追逃对抗模型更易仿真求解,利用梯度方法改变Laplacian 矩阵的非零特征值给出了对抗双方的控制输入,仿真证明了该方法的可行性. 利用边界权值函数考虑无人机通信或感知能力的变化. 然后，针对仿真过程中遇到的问题提出根据实际情况构造不同的性能指标. 仿真表明逃逸者为迷惑追击者不时交叉逃逸;而追击者也会更换追击目标;相对距离不断变化.

英文摘要

      Comparing with the confrontation model in differential game theory, the pursuit-evasion model of unmanned aerial vehicles(UAVs) constructed by algebraic graph theory is easier to be simulated. Therein, the control inputs of pursuers and evaders are implemented by changing nonzero eigenvalues of Laplacian matrix based on gradient method, and the communication variation or sensing degradation of UAVs is investigated through the boundary weighting function. Simulation provides information for combining the real conditions to compose the guidelines for practical applications. Simulations indicate that evaders may change to a crossing escaping trajectory to confuse the pursuers, and pursuers may also change their objects, thus, the relative distances is continuously change.