控制理论与应用2026，Vol.43Issue(2)：269-277,9.DOI:10.7641/CTA.2024.30193
仿慈鸦群信息交互的无人机集群协同转弯控制
Cooperative turning control of UAV swarm mimicking the information exchange behaviors of jackdaw flock
摘要
Abstract
This paper presents a cooperative turning control method inspired by jackdaw flock information to achieve rapid adjustment of unmanned aerial vehicle(UAV)swarm in dynamic and uncertain environments.The models of the individual interaction and information propagation are established by analyzing the interactive behaviors and information propagation process of jackdaw flock.The relationship between the information exchange and swarm motion is also eluci-dated.The swarm dynamics model based on the social force framework is proposed and mapped to the coordinated turning control of the UAVs driven by turning information.Simulation results indicate that under the influence of individual inter-action,information propagation,and swarm dynamics,the turning information triggered by some UAVs rapidly propagates,and enable the swarm to form a consistent response and thus achieve rapid turning maneuvers.关键词
无人机集群/协同转弯控制/慈鸦信息交互/集群动力学/改进社会力Key words
unmanned aerial vehicle(UAV)swarm/cooperative turning control/information interaction of jackdaw flock/swarm dynamics/modified social force引用本文复制引用
申燕凯,魏晨,段海滨..仿慈鸦群信息交互的无人机集群协同转弯控制[J].控制理论与应用,2026,43(2):269-277,9.基金项目
科技创新2030-"新一代人工智能"重大项目(2018AAA0102403),国家自然科学基金项目(U1913602,U20B2071,91948204,T2121003,U19B2033)资助.Supported by the Science and Technology Innovation 2030-Key Project of"New Generation Artificial Intelligence"(2018AAA0102403)and the Nati-onal Natural Science Foundation of China(U1913602,U20B2071,91948204,T2121003,U19B2033). （2018AAA0102403）
