A virtual force-based unmanned aerial vehicle cluster self-organizing encirclement control method

By designing virtual forces in the radial and angular directions within a drone swarm, self-organizing encirclement control of the drone swarm was achieved, solving the problem of self-organizing encirclement of large-scale drone swarms on targets and improving the flexibility and scalability of control.

CN116755465BActive Publication Date: 2026-06-09NORTHWEST INST OF NUCLEAR TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NORTHWEST INST OF NUCLEAR TECH
Filing Date
2023-05-26
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

Existing technologies are insufficient to meet the self-organized encirclement control requirements of large-scale drone swarms during saturation penetration, especially when the target changes, requiring intervention from ground personnel, resulting in low efficiency and poor scalability.

Method used

The design incorporates virtual forces in the radial and angular directions. By transmitting state information between drones through local communication, the self-organizing encirclement control of the drone swarm is achieved. The virtual forces enable the drones to converge onto the waiting loop and synchronously encircle and break through the target.

Benefits of technology

It enables self-organized encirclement control of large-scale UAV swarms on targets, improving the flexibility and scalability of swarm control and reducing the need for ground intervention.

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Abstract

The present application relates to a kind of cooperative control methods of unmanned aerial vehicle cluster, specifically relates to a kind of virtual force-based unmanned aerial vehicle cluster self-organizing control method of encirclement, solve the technical problem that existing method is difficult to meet the large-scale unmanned aerial vehicle cluster saturation breakthrough encirclement control.This virtual force-based unmanned aerial vehicle cluster self-organizing control method of encirclement includes the following steps: S1, the state information of the i unmanned aerial vehicle and adjacent two unmanned aerial vehicles with it is obtained;S2, whether the i unmanned aerial vehicle satisfies space-time constraint is judged;S3, the virtual force of the i unmanned aerial vehicle is designed;S4, the control amount of the i unmanned aerial vehicle waiting controller is calculated;S5, the virtual force of the i unmanned aerial vehicle is designed again;S6, the control amount of the i unmanned aerial vehicle breakthrough controller is calculated;S7, whether the i unmanned aerial vehicle reaches target point is judged, reaches and task is ended, otherwise the state information of the i unmanned aerial vehicle and adjacent two unmanned aerial vehicles is updated, until the i unmanned aerial vehicle reaches target point.
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