自动化学报2025，Vol.51Issue(5)：960-971,12.DOI:10.16383/j.aas.c240598
仿鸟群自推进机制的无人机集群相变控制
Phase Transition Control of UAV Swarm Based on Bird-inspired Self-propelled Mechanism
摘要
Abstract
A phase transition control method for unmanned aerial vehicle(UAV)swarms based on the bird-in-spired self-propelled particle model has been proposed to address the problem of motion phase transition of UAV swarms.Firstly,inspired from bird flock behavior,a bird-like motion model is constructed by designing a velocity maintenance term and a potential gradient term,and a phase transition control term is designed to simulate the at-traction of the nest to the flock to achieve transition between different phases.Subsequently,the motion modalities of the swarm under the designed phase transition control law were discussed,demonstrating that the UAV swarm is capable of achieving two stable motion phases and reversible transition between them.Ultimately,simulations proved the existence of two stable motion phases within the swarm,and the proposed phase transition control pro-tocol was validated to enable mutual transitions between the two motion phases.关键词
无人机集群/相变控制/自组织/自推进粒子Key words
Unmanned aerial vehicle swarm/phase transition control/self-organization/self-propelled particles引用本文复制引用
段海滨,尤灵辰,范彦铭,李明..仿鸟群自推进机制的无人机集群相变控制[J].自动化学报,2025,51(5):960-971,12.基金项目
国家自然科学基金(62350048,624B2013,T2121003,U20B2071)资助Supported by National Natural Science Foundation of China(62350048,624B2013,T2121003,U20B2071) （62350048,624B2013,T2121003,U20B2071）
