引用本文:段海滨,霍梦真,范彦铭.仿鹰群智能的无人机集群协同对抗飞行验证[J].控制理论与应用,2018,35(12):1812~1819.[点击复制]
Duan Haibin,HUO Meng-zhen,Fan Yan-Ming.Flight Verification of Multiple UAVs Collaborative Air Combat Imitating the Intelligent Behavior in Hawks[J].Control Theory and Technology,2018,35(12):1812~1819.[点击复制]
仿鹰群智能的无人机集群协同对抗飞行验证
Flight Verification of Multiple UAVs Collaborative Air Combat Imitating the Intelligent Behavior in Hawks
摘要点击 2691  全文点击 796  投稿时间：2018-06-12  修订日期：2018-11-27
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DOI编号  10.7641/CTA.2018.80433
  2018,35(12):1812-1819
中文关键词  无人机  鹰群智能行为  李雅普诺夫导航向量场  外场飞行验证
英文关键词  unmanned aerial vehicles  cooperative combat  intelligent behavior of hawks  UAV flight verification
基金项目  国家杰出青年科学基金,国家自然科学基金重点项目
作者单位E-mail
段海滨* 北京航空航天大学自动化学院自控系 hbduan@buaa.edu.cn 
霍梦真 北京航空航天大学自动化学院自控系  
范彦铭 中国航空工业集团公司 沈阳飞机设计研究所  
中文摘要
      自主能力强且低成本的无人机集群协同对抗，是无人机集群对抗中打击敌方攻击防御体系和拦截敌方入侵机群的一个重要手段。哈里斯鹰是一种集群狩猎的猛禽，集群狩猎对于哈里斯鹰获取维持生命活动所需的能量具有重要意义。从无人机集群协同对抗任务与哈里斯鹰协同狩猎行为相似性出发，本文提出一种仿鹰群智能的无人机集群协同对抗方法。首先通过分析鹰群的集群狩猎行为，建立鹰群智能行为机制，并将其映射到无人机集群协同对抗行为中；在该模型的基础上，利用李雅普诺夫导航向量场控制无人机的运动状态，使得我方无人机能够以恒定的速度收敛到预定的轨迹上，完成对敌方无人机的对抗打击；最后，搭建无人机集群验证平台，对所设计的仿鹰群无人机集群协同对抗模型进行外场飞行验证，试验结果验证了本文所设计的模型在无人机对抗环境中的可行性与有效性。
英文摘要
      The cooperative confrontation of unmanned aerial vehicle (UAV) swarm with high capability of autonomous operation and low cost is crucial to the attack on enemy’s defense system and the interception of the invading UAVs. Harris hawk is a kind of rapor hunting in flock, which is of great significance for Harris hawk to obtain the energy for their baisc life support. Based on the similarity between cooperative combat mission of UAVs and the behavior of biological swarm, a collaborative confrontation method of UAVs cluster based on the intelligent behavior of hawks is proposed in this paper. Firstly, the intelligent behavior mechanism of the hawks is established and mapped to the cooperative confrontation model of the UAVs cluster by analyzing the hunting behavior of the Harris hawks. On the basis of the model, the Lyapunov navigation vector field is employed in the control of unmanned aerial vehicle (UAV) motion, which makes the position of our drones converge to the predetermined trajectory at a constant speed; Finally, the platform of unmanned aerial vehicle (UAV) swarm is established for the validation of the model designed based on the imitation of the hawks. The results of the field flight test verify the feasibility and effectiveness of the model in uav combat environment.