北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (2): 391-397.doi: 10.13700/j.bh.1001-5965.2020.0265

• 论文 • 上一篇    下一篇

基于寒鸦配对交互行为的无人机集群编队控制

张令1,2, 段海滨1,2, 雍婷3, 邓亦敏1, 魏晨1   

  1. 1. 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, 北京 100083;
    2. 鹏城实验室, 深圳 518000;
    3. 信息系统安全技术重点实验室, 北京 100101
  • 收稿日期:2020-06-15 发布日期:2021-03-08
  • 通讯作者: 段海滨 E-mail:hbduan@buaa.edu.cn
  • 作者简介:张令,男,硕士研究生。主要研究方向:多无人机仿生自主协同控制;段海滨,男,博士,教授,博士生导师。主要研究方向:无人飞行器集群仿生自主控制、计算机仿生视觉和仿生智能计算。
  • 基金资助:
    科技创新2030-“新一代人工智能”重大项目(2018AAA0102403);国家自然科学基金(91948204,U20B2071,U1913602,U19B2033)

Unmanned aerial vehicle swarm formation control based on paired interaction mechanism in jackdaws

ZHANG Ling1,2, DUAN Haibin1,2, YONG Ting3, DENG Yimin1, WEI Chen1   

  1. 1. Bio-inspired Autonomous Flight Systems Research Group, Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China;
    2. Peng Cheng Laboratory, Shenzhen 518000, China;
    3. National Key Laboratory of Science and Technology on Information System Security, Beijing 100101, China
  • Received:2020-06-15 Published:2021-03-08

摘要: 受寒鸦群配对飞行行为机制的启发,提出了一种配对交互模型,并应用于解决无人机(UAV)集群编队控制问题。首先,模仿寒鸦个体间的配对交互,设计配对交互时的邻居选择机制,基于社会力,考虑惯性加速、远距吸引、近距排斥、速度匹配和运动阻尼,分别建立配对个体和未配对个体的运动学微分方程,完成配对交互模型的构建。然后,在无人机模型基础上,设计基于寒鸦配对交互机制的无人机集群编队控制器。最后,通过2组仿真实验研究所提模型应用于无人机集群时的特性。结果表明,寒鸦配对交互模型能保证无人机集群运动的一致性,通过减小无人机交互的平均邻居数量,从而减小无人机集群的通信负载,并且当单向刺激时,配对无人机作为信息无人机时集群有更高的应激精度。

关键词: 寒鸦配对交互, 无人机(UAV), 集群控制, 通信负载, 应激精度

Abstract: Inspired by the paired flight mechanism of jackdaws, a paired interactive swarm model is proposed and applied to the Unmanned Aerial Vehicle (UAV) swarm control system. Firstly, by imitating the paired interaction between jackdaw individuals, the neighbor selection mechanism is designed in pairing interaction. Considering inertial acceleration, long-range attraction, close-range repulsion, speed matching and motion damping, the paired and unpaired individual's differential equation of kinematics is established based on the social forces. Then the construction of the paired interaction model is completed. Secondly, based on the UAV control model, a UAV swarm controller in paired interaction mechanism is designed. Finally, two sets of simulation experiments are conducted to study the characteristics of the model proposed when it is used on the UAV swarm. Simulation results show that the paired interaction model can ensure the consistency of the UAV swarm. The communication load of the UAVs can be reduced by less average number of neighbors in UAV interaction. The UAV swarm has higher stimulation accuracy if the paired UAV is taken as the information individual when facing external stimuli.

Key words: paired interaction in jackdaws, Unmanned Aerial Vehicle (UAV), swarm control, communication load, stimulation accuracy

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