针对逃逸目标的多机协同围捕策略研究  

Research on Multi-UAV Cooperative Round-up Strategy for Escape Targets

作　　者：周贞文 邵将 徐扬 罗德林 ZHOU Zhenwen;SHAO Jiang;XU Yang;LUO Delin(School of Aerospace Engineering,Xiamen University,Xiamen 361102,Fujian,China;QIAN Xuesen Laboratory of Space Technology,Beijing 100094,China;Research Center of Satellite Technology,Harbin Institute of Technology,Harbin 150001,China;School of Civil Aviation,Northwestern Polytechnical University,Xi’an 710072,China)

机构地区：[1]厦门大学航空航天学院,福建厦门361102 [2]钱学森空间技术实验室,北京100094 [3]哈尔滨工业大学卫星技术研究所,哈尔滨150001 [4]西北工业大学民航学院,西安710072

出　　处：《空军工程大学学报（自然科学版）》2021年第3期2-8,共7页Journal of Air Force Engineering University(Natural Science Edition)

基　　金：航空电子系统综合技术重点实验室和航空科学基金联合资助项目(20185568005)。

摘　　要：针对多无人机对入侵飞行器的协同追踪围捕控制问题,将自然界中生物群落在捕捉猎物时展现的逃逸-围捕策略引入到多无人机协同作战研究中,设计了一种多无人机协同围捕逃逸目标策略。该策略由2个阶段组成,第1阶段使用基于动态反馈线性化的控制方法准确跟踪逃逸目标,第2阶段使用李雅普诺夫矢量场方法。该方法可以保障多无人机在围捕飞行中躲避敌方防空力量、雷达探测等危险区域。仿真结果验证了所设计的策略在多无人机围捕和阻止目标逃逸场景中的可行性与有效性。In order to counter the tendency of collaborative tracking and rounding up control of multiple unmanned aerial vehicle(multi-UAV)to track intrusive aircraft,a strategy of multi-UAV cooperate is used to capture an escaped target.This strategy introduces the escape-rounding phenomenon of natural biota when the catching becomes a prey.The round-up process consists of two stages.At the first stage,the control method based on dynamic feedback linearization is applied to track the escaped target accurately.At the second stage,the Lyapunov vector field(LVF)method is utilized for ensuring the UAV to avoid dangerous areas such as enemy air defense forces and radar detection in counter flight.The simulation results show that the designed strategy in the scenario of multi-UAV rounding up and preventing target escape is valid and feasible.

关 键 词：多无人机 逃逸-围捕策略 目标跟踪 李雅普诺夫矢量场 

分 类 号：TN92[电子电信—通信与信息系统]