基于层级网络的多无人机自主编队策略
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摘要
为了研究任意几何形态的无人机自主编队方法,综合运用虚拟结构原理和智能体模型,提出了一种较为通用的基于层级网络的自主编队策略。首先,引入了虚拟领航员结构和无人机智能体模型,并建立了划分等级次序的层级网络;其次,针对假设条件,研究了虚拟领航员的运动规律,并给出了入列及防撞的具体策略;最后,通过系列仿真试验对自主编队策略进行了验证。结果表明,多无人机能够进行固定形态的自主编队并保持稳定,通过合理调整层级关系,无人机还可进行编队重构。
To study the methods of UAV autonomous formation with an arbitrary geometric shape,a relatively universal approach based on hierarchical network is put forward by comprehensive using of virtual structure and agent theory. First,hierarchical network with sequence was established by introducing virtual navigator structure and UAV agent model. Secondly,flying rule of virtual navigator was given under certain conditions,as well as specific means of follower flight and collision avoidance. Finally,a series of simulation experiments were carried out to verify these strategies. The results show that multiple UAVs can accomplish autonomous formation with fixed structure and keep stable; UAVs are also able to realize reconfiguration through reasonable adjustment of hierarchy.
To study the methods of UAV autonomous formation with an arbitrary geometric shape,a relatively universal approach based on hierarchical network is put forward by comprehensive using of virtual structure and agent theory. First,hierarchical network with sequence was established by introducing virtual navigator structure and UAV agent model. Secondly,flying rule of virtual navigator was given under certain conditions,as well as specific means of follower flight and collision avoidance. Finally,a series of simulation experiments were carried out to verify these strategies. The results show that multiple UAVs can accomplish autonomous formation with fixed structure and keep stable; UAVs are also able to realize reconfiguration through reasonable adjustment of hierarchy.
引文
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