信息与控制2024，Vol.53Issue(6)：723-738,16.DOI:10.13976/j.cnki.xk.2023.3042
3维未知复杂环境下无人机群协同围捕
Cooperative Hunting by UAV Swarm in 3 D Unknown Complex Environment
摘要
Abstract
To address the challenge of cooperative hunting by unmanned aerial vehiclel(UAV)swarms in 3D unknown complex environments,we present a hunting algorithm that combines an expansion algorithm with a 3D simplified virtual force hunting model(3D-ESVFH).First,we develop a UAV individual motion model.For navigating non-convex obstacles in 3D unknown complex envi-ronments,we employ an expansion algorithm that combines hemispherical and spherical expan-sion.This process abstracts natural hunting behavior into a 3D simplified virtual force hunting model.We then use the Lyapunov function to analyze system stability.Simulation results under different conditions show that our method maintains effective hunting formations while avoiding ob-stacles.Compared to the following obstacle algorithm and the loose-preference rule,the proposed method reduces time and path consumption by 12.72%,9.79%,and 20.05%,8.35%,respec-tively.关键词
无人机群/3维未知复杂环境/膨胀算法/3维简化虚拟受力围捕模型Key words
UAV swarm/3D unknown complex environment/expansion algorithm/3D simplified virtual force hunting model分类
航空航天引用本文复制引用
张红强,蒋萍,吴亮红,王汐,左词立,陈祖国,陈亮..3维未知复杂环境下无人机群协同围捕[J].信息与控制,2024,53(6):723-738,16.基金项目
国家重点研发计划(2023YFC30111000) （2023YFC30111000）
国家自然科学基金项目(52104192,62271199) （52104192,62271199）
湖南省教育厅重点项目(23A0382) （23A0382）
湖南省自然科学基金项目(2022JJ30265) （2022JJ30265）
湖南省教育厅优秀青年项目(22B0476,21B0456) （22B0476,21B0456）
国防基础科研计划项目(JCKY2019403D006) （JCKY2019403D006）
湖南省科技托举工程青年英才项目(2022TJ-Q03) （2022TJ-Q03）
