Evolutionary game based heterogeneous cooperative flight conflict resolution method

Abstract

The invention discloses an evolutionary game based heterogeneous cooperative flight conflict resolution method. The method comprises the steps of 1, recording any aircraft in a multi-aircraft group asa detection aircraft, and determining a neighbor aircraft set corresponding to the detection aircraft according to the detection radius of the detection aircraft; 2, calculating the total game revenue of the detection aircraft to the neighbor aircraft set according to an evolutionary game algorithm; 3, calculating the flight strategy learning probability of the detection aircraft according to thetotal game revenue of the detection aircraft and the total game revenue of the neighbor aircraft; and updating a flight execution strategy of the detection aircraft according to the flight strategy learning probability, wherein the flight execution strategy is one of a self-flight strategy of the detection aircraft or a self-flight strategy of the neighbor aircraft. According to the technical scheme of the invention, cooperative flight conflict resolution is performed on multiple heterogeneous aircrafts, and the safety of cooperative flight of the whole aircraft group is improved.

Description

technical field [0001] This application relates to the technical field of aircraft, in particular, to a heterogeneous cooperative flight conflict resolution method based on evolutionary game. Background technique [0002] Multi-vehicle cooperative flight is to find the interaction rules among individual aircraft. The goal of these interaction rules is to achieve and maintain a globally consistent target state without the need for global unified control. The conflict problem of multi-aircraft coordinated flight is actually the conflict of interests between aircraft. Evolutionary game is a theory combining game theory and dynamic evolution process. The research goal is to find the stable equilibrium point in the game evolution process. Therefore, the process of cooperative flight can be regarded as the continuous interaction and time between multiple aircraft. The evolutionary game process of evolution, through this interaction and evolution, seeks the expected overall behavi...

AI Technical Summary

Problems solved by technology

However, in the process of actual multi-aircraft coordinated flight, there are often one or more differences in the communication range, flight speed, engine power performance and other parameters of each individual aircraft, and there may be one or more aircraft in the entire aircraft. The group has a higher priority, so it is impossible to continue to use the homogenized collaborative flight conflict resolution method to resolve the heterogeneous multiple aircraft collaborative flight conflicts

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