Unmanned aerial vehicle swarm self-organization method in denial environment

Abstract

The invention relates to an unmanned aerial vehicle swarm self-organization method in a denial environment, and the method comprises the steps: constructing an unmanned aerial vehicle environment sensing system, obtaining the position information of adjacent unmanned aerial vehicle individuals based on the unmanned aerial vehicle environment sensing system, and building an unmanned aerial vehicle swarm centerless control relation model; analyzing a cluster task process and task characteristics through the unmanned aerial vehicle swarm centerless control relation model, establishing a task planning mathematical model, generating a task plan, performing cluster cooperative control based on the task plan, and finally performing efficiency evaluation. According to the method, a unified situation model is designed for the unmanned aerial vehicle, and the problems of high processing complexity, low information fusion speed, difficulty in convergence and the like existing in data processing of different sensors in a traditional method are solved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a self-organizing method for unmanned aerial vehicle swarms in a denied environment. Background technique [0002] In recent years, with the rapid development of unmanned system technology, countries all over the world are committed to the research of intelligent UAV swarms and have achieved important results. In April 2016, the U.S. military released the "Small Unmanned Aerial Vehicle System Roadmap 2016-2036", which highlights the significance of small unmanned swarm systems. The U.S., through institutions such as the Defense Advanced Research Agency (DARPA) and the Naval Research Laboratory (NRL), is fully exploring the latest technology of drone clusters and applying them to military development to ensure its global military technology leadership. The current typical UAV swarm technologies include: Gremlins project, Cooperative Operations in Denied Environme...

AI Technical Summary

Problems solved by technology

However, the drone swarm system is still in the early stages of development and faces many problems and difficulties

[0004]At present, the relatively mature UAV swarming systems at home and abroad are relatively small in scale, and most of them are based on fixed-wing UAVs, with poor individual controllability. Rejecting the environment and large-scale swarms, the mobility and coordination of bee colonies are greatly restricted, relying too much on network remote control operations, basically using the "human in the loop" non-intelligent mode for reconnaissance and strikes, poor individual autonomy , not to mention the ability of multi-machine intelligence to work together

[0005]In practical application, there are problems such as delay, instability and easy interference in network communication

It is easy to cause some nodes in the system to be lost, or the link to be damaged, which will lead to the destruction of the entire system network structure

At the same time, considering that the UAV swarm system will inevitably have various complex and diverse failure problems in the process of performing tasks in a denied environment, often due to the failure of a single UAV, it can be solved through the communication between UAVs. Coordinated behavior spreads to the entire system, destabilizing the entire system, and even causing huge losses

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