于月平, 段海滨, 范彦铭, 霍梦真, 杨庆, 魏晨. 仿欧椋鸟大规模超机动行为的无人机集群转弯控制[J]. 机器人, 2020, 42(4): 385-393. DOI: 10.13973/j.cnki.robot.190699
引用本文: 于月平, 段海滨, 范彦铭, 霍梦真, 杨庆, 魏晨. 仿欧椋鸟大规模超机动行为的无人机集群转弯控制[J]. 机器人, 2020, 42(4): 385-393. DOI: 10.13973/j.cnki.robot.190699
YU Yueping, DUAN Haibin, FAN Yanming, HUO Mengzhen, YANG Qing, WEI Chen. Turning Control of Multiple UAVs Imitating the Super-Maneuver Behavior in Massive Starlings[J]. ROBOT, 2020, 42(4): 385-393. DOI: 10.13973/j.cnki.robot.190699
Citation: YU Yueping, DUAN Haibin, FAN Yanming, HUO Mengzhen, YANG Qing, WEI Chen. Turning Control of Multiple UAVs Imitating the Super-Maneuver Behavior in Massive Starlings[J]. ROBOT, 2020, 42(4): 385-393. DOI: 10.13973/j.cnki.robot.190699

仿欧椋鸟大规模超机动行为的无人机集群转弯控制

Turning Control of Multiple UAVs Imitating the Super-Maneuver Behavior in Massive Starlings

  • 摘要: 为了在动态不确定环境下实现大规模无人机集群转弯的快速性和一致性,提出了一种仿欧椋鸟大规模超机动行为的无人机集群转弯控制方法.通过分析欧椋鸟大规模超机动行为,分别建立邻居选择、局部交互和信息传递机制,并将其映射到无人机集群转弯控制中.在这些机制的基础上,利用改进社会力模型进行无人机转弯控制,使无人机集群在没有外界刺激的情况下实现快速聚集和速度极化;而在有外界刺激的情况下,无人机切换模式,整个集群快速完成超机动转弯动作以避开危险.仿真实验结果表明,在该模型作用下无人机集群既能满足转弯曲率的要求,又能保持群集运动的一致性.

     

    Abstract: A turning control method of UAV (unmanned aerial vehicles) swarm is proposed by mimicking the supermaneuver behaviors of massive starlings, to achieve rapid and uniform turning of the large-scale UAV swarm in dynamic uncertain environments. Firstly, three mechanisms including neighbor selection, local interaction, and information transfer are established by analyzing the super-maneuver behaviors of massive starlings, which are mapped to the turning control of UAV swarm. Based these mechanisms, an improved social force model is applied to the turning control of UAV swarm, and thus the UAV swarm can realize fast aggregation and speed polarization when there isn't any external stimulus. In the case of external stimulus, the UAVs switch the mode and the whole UAV swarm can quickly complete the super-maneuver turning to avoid dangers. Finally, simulation experiment results verify that the UAV swarm can not only meet the requirements of turning curvature, but also maintain the uniformity of the swarm motion based on the proposed model.

     

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