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

作　　者：邱华鑫 段海滨[1] 范彦铭[2] 

机构地区：[1]北京航空航天大学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,北京100191 [2]中国航空工业集团公司沈阳飞机设计研究所,辽宁沈阳110035

出　　处：《控制理论与应用》2015年第10期1298-1304,共7页Control Theory & Applications

基　　金：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~~

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.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.

关 键 词：无人机 编队控制 鸽群层级行为 有向图 人工势场 

分 类 号：V279[航空宇航科学与技术—飞行器设计]