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

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

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.