基于多智能体协同的无人机编队控制研究  

Study on Unmanned Aircraft Formation Control Based on Multi-agent Collaboration

作　　者：甘良棋 董超 GAN Liangqi;DONG Chao(College of Electronic and Information Engineering/College of Integrated Circuits,Nanjing University of Aeronautics and Astro Nautics,Nanjing 211106,China;Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space,Ministry of Industry and Information Technology,Nanjing 211106,China)

机构地区：[1]南京航空航天大学电子信息工程学院/集成电路学院,南京211106 [2]工业和信息化部电磁频谱空间认知动态系统重点实验室,南京211106

出　　处：《计算机科学》2024年第S02期662-668,共7页Computer Science

基　　金：国家重点研发计划(2018YFB1800801);国家自然科学基金(61631020,61827801,61931011)。

摘　　要：无人机的应用在各方面越来越受到大家的重视,特别是应用在复杂多变的战场中,其具有独特的优势。但是战场中单架次无人机作战能力非常有限,只能完成单一任务且效率较低。多无人机编队协同,可以充分发挥无人机编队的优势,实现更广泛的任务覆盖、更高效的任务执行能力。首先分析了多智能体组网、无人机编队协同动态组网的应用背景和应用场景,提出了“空-天-低空-陆地”联合通信的域,可以实现不同空间层次之间的信息数据传输,达到战场统一指挥和协同作战,提高作战效率;然后,分析之后建立了单个无人机的数学模型,设计了单个无人机的飞行控制器,且通过仿真得出翻滚角、俯仰角和偏航角响应时间分别为0.5 s,0.3 s和2.5 s;之后,基于AirSim插件、Matlab/Simulink、Python等工具设计了无人机编队协同控制系统,可以实现任务场景仿真、各无人机飞行数据的收集和处理;最后,为了解决各个无人机之间的数据交互和决策等问题,设计了协同通信控制模块,并且给出了具体的硬件原理、数据交互的通信协议等,通过仿真和实验完成了无人机编队协同控制系统,为现代战争中趋于无人作战提供一定的理论和实际参考意义。The application of unmanned aerial vehicles(UAVs)is receiving more and more attention in all aspects,especially in the complex and changing battlefield,where they have unique advantages.However,single-flight UAV operations in the battlefield are very limited in capability and can only accomplish a single task with low efficiency.Multi-UAV formation coordination can give full play to the advantages of UAV formation and realize wider mission coverage and more efficient mission execution capability.Firstly,the application background and application scenarios of multi-agent networking and UAV formation cooperative dynamic networking are analyzed.The domain of“air-sky-low-altitude-land”joint communication is proposed,which can realize the information between different spatial levels.The joint communication domain of“air-sky-low-altitude-land”is proposed,which can realize the transmission of information and data between different spatial levels,achieve unified command and cooperative operation on the battlefield,and improve the combat efficiency.Then,the mathematical model of a single UAV is established after analysis,and the flight controller of a single UAV is designed and the response times of roll angle,pitch angle and yaw angle are 0.5 s,0.3 s and 2.5 s respectively through simulation.After that,the UAV formation cooperative control system is designed based on tools such as AirSim plug-in,Matlab/Simulink,Python,which can realize the simulation of mission scenarios,the collection and processing of UAV flight data.Finally,in order to solve the problems of data interaction and decision making among UAVs,a cooperative communication control module is designed,and the specific hardware principle and communication protocol for data interaction are given,and the UAV formation cooperative control system is completed through simulation and test.It provides some theoretical support for unmanned combat in modern war and has practical reference significance.

关 键 词：多无人机编队协同 多智能体 联合通信的域 空-天-低空-陆地 协同通信控制模块 

分 类 号：TN929[电子电信—通信与信息系统]