基于通信功率自适应的无人机集群协同导航控制方法  

Cooperative navigation control method for UAV swarm based on communication power adaptation

作　　者：刘兴宇 蒋志彪 蒋天瑞 郭荣化 常远 闫超 周晗 LIU Xingyu;JIANG Zhibiao;JIANG Tianrui;GUO Ronghua;CHANG Yuan;YAN Chao;ZHOU Han(Unit 32399 of the PLA,Nanjing 210046,China;Academy of Military Sciences,Beijing 100091,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]中国人民解放军32399部队,江苏南京210046 [2]军事科学院,北京100091 [3]南京航空航天大学自动化学院,江苏南京211106 [4]国防科技大学智能科学学院,湖南长沙410073

出　　处：《系统工程与电子技术》2024年第10期3536-3546,共11页Systems Engineering and Electronics

摘　　要：分群现象是无人机集群在运动过程中出现的不利情形,部分无人机形成小簇,脱离群体。特别是在电磁环境复杂、通信资源紧张的通信受限情形下,集群无人机无法获取、利用周围所有邻居信息,发生分群现象的概率增大,严重影响任务的正常执行,为此设计了一种基于通信功率自适应的无人机集群协同导航控制方法。控制方法一是包括交互对象选择机制,确保唯一领导者的影响力可以迅速传递至整个集群,二是包括传输半径控制机制,可以基于模糊控制方法实现,自适应地调整集群无人机的通信功率。仿真实验结果表明,所提控制方法一方面可以增强集群鲁棒性,避免分群现象发生,实现通信受限情形下的仅单架领导者存在的大规模集群导航;另一方面可以降低无人机集群的整体能量消耗,控制无人机集群的任务成本。The phenomenon of clustering represents an adverse condition arising during unmanned aerial vehicle swarm movement,where certain unmanned aerial vehicle form small clusters,disassociating from the swarm.This is particularly evident in complex electromagnetic environments and under communication-constrained scenarios where communication resources are scarce.In such cases,the swarm unmanned aerial vehicle is unable to acquire and exploit information from all nearby entities,thus elevating the likelihood of clustering,which severely impedes the normal execution of tasks.As a countermeasure,a cooperative navigation control method based on communication power adaptability for unmanned aerial vehicle swarms is developed.This control method incorporates an interaction object selection mechanism,ensuring that the influence of the sole leader can be rapidly disseminated throughout the swarm,and a transmission radius control mechanism.The unmanned aerial vehicle swarm,based on a fuzzy controller,can adaptively adjust the communication power.Simulation experiment result demonstrates that this control method not only enhances the robustness of the swarm,preventing clustering,and facilitates large-scale swarm navigation with a single leader under limited interaction scenarios,but also reduces the overall energy consumption of the unmanned aerial vehicle swarm,thereby controlling the task cost of the unmanned aerial vehicle swarm.

关 键 词：无人机集群 通信功率自适应 分群现象 协同控制方法 

分 类 号：E911[军事]