基于一致性协议的多无人机协同围捕控制方法

doi:10.12305/j.issn.1001-506X.2021.09.17

摘要/Abstract

摘要：

针对无人机对运动目标的协同围捕问题, 设计了一种快速协同围捕控制算法。首先, 基于人工势场法设计了无人机与目标的动态博弈关系, 使得目标的运动更加趋近于现实场景下逃跑者的行为模式。其次, 利用无人机与目标的速度关系, 将二维阿波罗尼奥斯圆扩展为三维阿波罗尼奥斯球, 通过阿波罗尼奥斯球设计了无人机编队围捕队形。然后, 将无人机获取的目标信息引入到一致性协议, 以此来完成无人机编队对目标的协同编队围捕, 并引入二跳网络加快围捕队形收敛, 提高了无人机编队的任务执行效率。最终, 通过仿真实验证明了该控制算法的有效性。

关键词: 一致性协议, 围捕, 无人机编队, 阿波罗尼奥斯圆

Abstract:

In view of the problem of unmanned aerial vehicle (UAV) cooperative capture of moving target, a fast cooperative capture control algorithm is designed. Firstly, the dynamic game relationship between UAV and target is designed based on the artificial potential field method, which makes the movement of target closer to the behavior pattern of the escapee in the real scene. Secondly, by using the velocity relationship between UAV and target, the two-dimensional Apollonius circle is extended to three-dimensional Apollonius ball, and the capture formation UAV formation is designed through the Apollonius ball. Then, the target information obtained by UAV is introduced into the consensus protocol to complete the cooperative formation capture of UAV formation, and the two hop network is introduced to accelerate the convergence of the capture formation, which improves the task execution efficiency of UAV formation. Finally, the simulation experiment results show the effectiveness of the control algorithm.

Key words: consensus protocol, capture, unmanned aerial vehicle (UAV) formation, Apollonius circle

中图分类号:

V249
V279

符小卫, 陈子浩. 基于一致性协议的多无人机协同围捕控制方法[J]. 系统工程与电子技术, 2021, 43(9): 2501-2507.

Xiaowei FU, Zihao CHEN. Cooperative capture control method for multi-UAV based on consensus protocol[J]. Systems Engineering and Electronics, 2021, 43(9): 2501-2507.

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