为实现少数领导者下的大规模无人机集群协同控制,提出了一种基于特定有限交互规则的无人机集群协同控制方法。所设计的有限交互规则主要包括有限交互设计和交互机制设计两方面,其中无人机的有限交互通过基于有限视场限制下随机视线遮挡关系的邻居选择机制实现。无人机间的交互机制从位置协同和速度协同两方面进行设计,考虑无人机间飞行安全性设计了位置协同力,考虑不同时期无人机任务目的设计了速度协同力。仿真结果表明,所设计的有限交互规则可以实现无人机集群对于指定的少数领导者运动协同跟踪,并完成指定轨迹的集群协同运动。

To realize the cooperative control of large-scale UAV swarm under a few leaders, a cooperative control method of UAV swarm based on specific limited interaction rules is proposed. The designed limited interaction rules mainly include two aspects: limited interaction design and interaction mechanism design. The limited interaction of UAV is realized by neighbor selection mechanism based on random line of sight occlusion relationship under limited field of view. The interaction mechanism between UAVs is designed from two aspects: position coordination and velocity coordination. The position coordination force is designed considering the flight safety of UAVs, and the velocity coordination force is designed considering the mission purpose of UAVs in different periods. The simulation results show that the designed limited interaction rules can achieve the cooperative tracking of the UAV swarm to the designated few leaders and complete the cooperative swarm movement of the designated trajectory.