A swarm encirclement control method for unmanned combat aircraft imitating the hunting behavior of wolves

Abstract

The invention discloses an unmanned combat aircraft group encirclement control method imitating the hunting behavior of wolves, which is characterized in that: the method steps are as follows: step 1: initialize the motion model of the unmanned aerial vehicle; step 2: determine the observation level of wolves hunting roles; Step 3: Calculating the wolf pack leader-following target state observer; Step 4: Designing the encirclement control law of the leader wolf-slave wolf interaction mechanism; Step 5: Conversion of equivalent control instructions; Step 6: Outputting the UAV cluster encirclement control trajectory. The method of the present invention learns from the leader-follower interaction relationship in the opportunistic hunting strategy of wolves, and under the condition of limited detection and communication range, by enhancing the interaction of heterogeneous nodes, it maintains the connectivity and stability of cluster encirclement control under limited perception.

Description

technical field [0001] The invention is an unmanned combat aircraft swarm encirclement control method imitating the hunting behavior of wolves, which is used for the unmanned combat aircraft swarm encirclement control under limited perception conditions, and belongs to the field of unmanned aerial vehicle swarm intelligent control and decision-making. Background technique [0002] The unmanned combat aircraft cluster is a cluster system composed of a group of unmanned combat aircraft that gather in a high-scale form and complement each other. It can undertake tasks that cannot be involved in a single combat aircraft in the traditional sense. At the same time, it has lower manufacturing cost and higher reliability. Formation encirclement is a typical form of unmanned combat aircraft group cooperative operations. By enclosing enemy targets in a circular area, they interfere, guide or block the targets, thereby reducing their threat capabilities. The encirclement control is us...

AI Technical Summary

Problems solved by technology

However, the connectivity-preserving constraint forces topological connectivity into the swarm control, which will make it difficult to form an encircling formation; moreover, the computational complexity of connectivity estimation is relatively large, which also puts forward higher requirements on the computing power of UAVs.

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