自动化学报2026，Vol.52Issue(2)：284-295,12.DOI:10.16383/j.aas.c250415
基于社会化协同的无人机集群目标合围控制
Target Enclosing Control of Unmanned Aerial Vehicle Swarm Based on Socialized Collaboration
摘要
Abstract
A socialized collaboration-based control strategy is proposed for mobile-target enclosing under percep-tion and communication constraints in the presence of environmental obstacles.First,inspired by socialized behavi-ors in biological swarms,a cooperative response model and a hierarchical interaction mechanism are established;un-der topology switching and packet-loss conditions,the constrained information flow is explicitly modeled to drive the swarm to achieve target enclosing.Second,a strongly guided task——Collision-avoidance parallel cooperative control scheme is proposed to realize robust enclosing control while prioritizing flight safety.Third,a consensus-based target-state observer is designed to robustly estimate the target position and velocity.Finally,simulation res-ults demonstrate that the proposed method can achieve stable encirclement in obstacle-laden environments under perception and communication constraints,exhibiting favorable robustness.关键词
无人机/目标合围/社会化协同/层级交互/感知能力受限Key words
unmanned aerial vehicle/target enclosing/socialized collaboration/hierarchical interaction/limited per-ception capability引用本文复制引用
彭雅兰,段海滨,范彦铭,李明..基于社会化协同的无人机集群目标合围控制[J].自动化学报,2026,52(2):284-295,12.基金项目
国家自然科学基金(62350048,U2541218,T2121003)资助Supported by National Natural Science Foundation of China(62350048,U2541218,T2121003) （62350048,U2541218,T2121003）
