Multi-unmanned aerial vehicle collision-free cooperative capture method and system for attack and defense scene

Abstract

The invention discloses a multi-unmanned aerial vehicle collision-free cooperative capture method and system for an attack and defense scene, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: calculating a dynamic interception point of an escaper unmanned aerial vehicle based on an avoidance space intersection according to the real-time position data and speed information of a pursuer unmanned aerial vehicle and an escaper unmanned aerial vehicle; based on a relaxation control obstacle function, constructing an anti-collision safety constraint between the pursuer unmanned aerial vehicles; according to the attack and defense target area, the dynamic interception point of the escaper unmanned aerial vehicle and anti-collision safety constraints, calculating an optimization problem with constraints, and generating a speed control instruction of the pursuer unmanned aerial vehicle; the constraints in the optimization problem with constraints comprise capture condition constraints, safety distance condition constraints and speed constraints; and iteratively updating the speed control instruction of the pursuer unmanned aerial vehicle until the escaper unmanned aerial vehicle capturing condition is met. According to the invention, efficient cooperative capture of multiple unmanned aerial vehicles in a complex scene can be realized.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a method and system for non-collision collaborative capture of multiple drones in attack and defense scenarios. Background Art

[0002] With the widespread application of multi-UAV systems in complex mission scenarios such as military reconnaissance, urban security, and emergency search and rescue, the efficient interception and coordinated capture of malicious targets (such as intruders and suspicious aircraft) has become a key research topic in the field of intelligent unmanned systems. In such missions, multiple UAVs must work together to form a surrounding formation, effectively intercepting the target before it reaches sensitive areas or evades them. This type of mission can essentially be formulated as a typical attack-defense game, where multiple pursuers (UAVs) and a single escaping target (the intruder) engage in a dynamic confrontation around a specific target area.

[0003] Currently, a variety of methods have been developed to address attack-defense game problems. For example, there are numerical methods based on Hamilton-Jacobi-Isaacs (HJI) theory; geometric methods, which analyze the geometric structure of the game space and construct regions such as the evasion space (ES) to derive strategies. Additionally, some research focuses on attack-defense games between multiple pursuer drones and a single evader drone in dynamic obstacle environments. However, existing geometric methods generally lack collision avoidance mechanisms. During the coordinated pursuit of multiple drones, if flight path intersections and spatial conflicts between drones are not fully considered, collisions are likely to occur, leading to system failure. This is especially true in heterogeneous formation scenarios, where each drone has varying flight speeds, capture radii, and safe spacing. Traditional geometric strategies struggle to ensure the safety and reliability of the coordinated process. Therefore, designing an efficient collaborative capture method and system with collision avoidance capabilities suitable for heterogeneous drone platforms in attack-defense scenarios has become a key technological development need. Summary of the Invention

[0004] The purpose of this application is to provide a method and system for the collision-free collaborative capture of multiple drones in attack and defense scenarios, which can achieve efficient collaborative capture of multiple drones in complex scenarios.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In the first aspect, the present application provides a method for multi-UAV collision-free collaborative capture in attack and defense scenarios, comprising:

[0007] Obtain real-time location data and speed information of the pursuer and evader drones in the attack and defense target area;

[0008] According to the real-time position data and speed information of the pursuer UAV and the evader UAV, the dynamic interception point of the evader UAV is calculated based on the intersection of the avoidance space;

[0009] Based on the relaxed control barrier function, anti-collision safety constraints between pursuer UAVs are constructed;

[0010] Based on the attack and defense target area, the dynamic interception point of the escaping drone, and the anti-collision safety constraints, a constrained optimization problem is calculated to generate speed control instructions for the pursuer drone; the constraints in the constrained optimization problem include capture condition constraints, safety distance condition constraints, and speed constraints;

[0011] Iteratively update the speed control instructions of the pursuer drone until the capture conditions of the escaping drone are met.

[0012] Optionally, the formula for avoiding spatial intersection is expressed as:

[0013] For each pursuer drone-evader drone pair, construct an avoidance space Among them, α∈(1,α E ] represents a constant, Indicates that when α is selected, the escaper drone E is relative to the pursuer drone P i The avoidance space, Indicates whether point x is in the pursuer drone P i The potential energy function in the avoidance space; Indicates the pursuer drone P i Position of x E represents the position of the escaper drone, r ci Indicates the pursuer drone P i The capture radius, v max,P and v max,E represent the maximum speeds of the pursuer drone and the evader drone respectively;

[0014] Compute the intersection of the avoidance spaces of two pursuer drones

[0015] in, Indicates the pursuer drone P i Space for circumvention The closure of , P1 and P2 represent the first pursuer drone and the second pursuer drone.

[0016] Optionally, calculate the dynamic interception point of the escaping drone, specifically including:

[0017] According to the intersection area To the attack and defense target area The nearest point, based on the formula Make Calculating the dynamic interception point of a fleeing drone in are optimization variables, constraints

[0018] Optionally, the formula expression of the relaxation control barrier function is:

[0019]

[0020] in, are the positions of the pursuer drones P1 and P2 respectively; r s1 ,r s2 ≥0 are the safety radius of the pursuer drones P1 and P2, Indicates the difference between the distance between the pursuer drones P1 and P2 and their safe distance.

[0021] Optionally, the anti-collision safety constraint is expressed as follows:

[0022]

[0023] Where C represents the state of the pursuer drone Security collection.

[0024] Optionally, the capture condition constraint formula is:

[0025]

[0026] in, Indicates that the drone P i Point to interception point The unit vector, λ i ≥0,

[0027] Optionally, the safety distance constraint formula is:

[0028]

[0029] in Indicates from point to β>0 represents the coefficient used to adjust the safety distance constraint.

[0030] Optionally, the velocity constraint is expressed as:

[0031]

[0032] Among them, v max,P Indicates the maximum speed of the pursuer drone, Indicates the pursuer drone P i Speed ​​control input.

[0033] Secondly, this application provides a multi-UAV collision-free collaborative capture system for attack and defense scenarios, including:

[0034] The data acquisition module is used to obtain the real-time location data and speed information of the pursuer UAV and the evader UAV in the attack and defense target area;

[0035] The interception point calculation module is used to calculate the dynamic interception point of the escaping UAV based on the real-time position data and speed information of the pursuer UAV and the escaping UAV and the intersection of the avoidance space;

[0036] The anti-collision module is used to construct anti-collision safety constraints between pursuer drones based on the relaxed control obstacle function;

[0037] An optimization module is configured to calculate a constrained optimization problem based on the attack and defense target area, the dynamic interception point of the escaping drone, and anti-collision safety constraints, and generate speed control instructions for the pursuer drone; the constraints in the constrained optimization problem include capture condition constraints, safety distance condition constraints, and speed constraints;

[0038] The capture module is used to iteratively update the speed control instructions of the pursuer drone until the capture conditions of the escaping drone are met.

[0039] Optionally, the interception point calculation module includes:

[0040] Interception point calculation unit, used to calculate the intersection area To the attack and defense target area The nearest point, based on the formula Make Calculating the dynamic interception point of a fleeing drone in are optimization variables, constraints

[0041] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0042] This application provides a method and system for collision-free collaborative capture of multiple drones in attack and defense scenarios. First, by acquiring real-time position and speed data from both the pursuer and evader drones, the dynamics of both drones can be monitored in real time, providing basic data support for subsequent collaborative capture. Next, based on the intersection of the avoidance spaces, the evader drone's dynamic interception point can be calculated. This step ensures that the pursuer drone can accurately predict and follow the evader drone's possible paths, improving the capture success rate. Furthermore, a relaxed control barrier function is used to establish collision avoidance safety constraints between the pursuer drones. This mechanism effectively avoids collisions between drones and ensures the safety of collaborative capture. After obtaining this information, a constrained optimization problem is calculated based on the attack and defense target area, the evader drone's dynamic interception point, and the collision avoidance safety constraints, generating speed control commands for the pursuer drone. These commands not only consider capture efficiency but also safety, ensuring that the drones can optimally execute their mission while complying with all constraints. Finally, the speed control commands for the pursuer drone are iteratively updated until the capture conditions for the evader drone are met. This process ensures that drones can flexibly adjust their strategies based on actual conditions, ultimately achieving efficient collaborative capture. This application achieves efficient collaborative capture of multiple drones in complex scenarios through real-time data acquisition, dynamic interception point calculation, anti-collision safety constraint construction, and constrained optimization problem solving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A flowchart of a method for non-collision collaborative capture of multiple drones in an attack and defense scenario provided by one embodiment of the present application;

[0045] Figure 2 A flowchart of a winning strategy method for non-collision coordinated capture in an attack-defense game provided in an embodiment of the present application;

[0046] Figure 3 A simulation example of a multi-UAV collision-free collaborative capture for an attack and defense scenario provided in one embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0049] Example 1

[0050] like Figure 1 As shown, this embodiment provides a multi-UAV collision-free collaborative capture method for attack and defense scenarios, including:

[0051] Step 101: Obtain real-time location data and speed information of the pursuer UAV and the evader UAV in the attack and defense target area;

[0052] Step 102: Calculate the dynamic interception point of the escaping UAV based on the real-time position data and speed information of the pursuer UAV and the escaping UAV and the intersection of the avoidance spaces;

[0053] Step 103: Based on the relaxed control barrier function, construct anti-collision safety constraints between the pursuer UAVs;

[0054] Step 104: Calculate a constrained optimization problem based on the attack and defense target area, the dynamic interception point of the escaping UAV, and the anti-collision safety constraints to generate a speed control instruction for the pursuer UAV; the constraints in the constrained optimization problem include a capture condition constraint, a safety distance condition constraint, and a speed constraint;

[0055] Step 105: Iteratively update the speed control command of the pursuer drone until the capture condition of the escaping drone is met.

[0056] In some embodiments, Figure 2 As shown, when executing steps 101-105, the specific steps may be as follows:

[0057] Consider an attack-defense game consisting of two pursuer drones P1 and P2 and one escaper drone E. The position and velocity dynamics of all drones are described by the following kinematic equations:

[0058]

[0059] Where t represents time, and Represents the pursuer drone Pi and the position of the escaper drone E in the two-dimensional plane, P i represents the i-th pursuer drone. and They are respectively the pursuer drone P i and the speed control input of the escaper drone E. The speeds of all drones must satisfy the constraints:

[0060]

[0061] where v max,P >0 indicates the maximum speed of the pursuer drone, v max,E >0 indicates the maximum speed of the escaper drone.

[0062] Attack and defense target area Defined as:

[0063]

[0064] This is a half-plane region in a two-dimensional plane, and all points with y coordinates less than or equal to 0 belong to the target region.

[0065] The following assumptions are made about the initial state and speed ratio of the drone:

[0066] (a) Initial position assumption: At the initial moment, the positions of the two pursuer drones and the escaper drone satisfy:

[0067]

[0068] Among them, r s1 ,r s2 ≥0 are the safety radius of the pursuer drones P1 and P2, r ci Indicates the pursuer drone P i The capture radius.

[0069] (b) Speed ​​ratio assumption: The maximum speed ratio of the pursuer and evader drones satisfies:

[0070]

[0071] This indicates that the maximum speed of the pursuer drone is greater than the maximum speed of the evader drone.

[0072] When executing step 102, the interception point is calculated according to the avoidance space, which can be specifically as follows:

[0073] (a) Constructing avoidance space.

[0074] For a single hunter drone P i and the evader drone E, whose avoidance space is defined as:

[0075]

[0076] Among them, α∈(1,α E ] is a constant, Indicates that when α is selected, the escaper drone E is relative to the pursuer drone P i The avoidance space, It is used to determine whether point x is in the pursuer drone P i The potential energy function in the avoidance space.

[0077] (b) Calculate the intersection of the avoidance spaces of multiple pursuer drones.

[0078] For two pursuer drones P1 and P2, the intersection of their avoidance spaces is:

[0079]

[0080] in, Indicates the pursuer drone P i Space for circumvention closure.

[0081] (c) Calculate the intercept point.

[0082] Interception point Is the intersection area To the target area The nearest point is solved by the following optimization problem:

[0083] Make

[0084] in is the optimization variable, representing a point in the two-dimensional plane. The goal is to minimize y, that is, to find the point closest to the target area. Constraints Make sure the point is within the intersection of the avoidance spaces of the two pursuer drones.

[0085] In some embodiments, when executing step 103, a relaxed control barrier function (R-CBF) is constructed to ensure a safe distance, which may be specifically as follows:

[0086] (a) To ensure that there is no collision between the two pursuer drones, this embodiment constructs the following relaxed control barrier function (R-CBF):

[0087]

[0088] in are the positions of the pursuer drones P1 and P2 respectively. s1 ,rs2 ≥0 are their safety radius respectively. Indicates the difference between the distance between two pursuer drones and their safe distance.

[0089] (b) Construct a safe set:

[0090] Based on the relaxed control barrier function (R-CBF), the safe set is defined as:

[0091]

[0092] It means that as long as the status of the pursuer drone Belonging to set C, it can be guaranteed that the distance between them is not less than the sum of the safety distances, thus avoiding collision.

[0093] Among them, the optimization problem solving and capture strategy can be established as follows:

[0094] Taking into account the requirements of defending the target area and avoiding collisions, this embodiment establishes the following constrained optimization problem to solve the speed control input of the pursuer UAV:

[0095]

[0096] Where γ>0 is any given positive number, is a slack variable used to handle possible constraint conflicts, and are the speeds of the pursuer drones P1 and P2 to be solved. The constraints of the optimization problem are:

[0097] 1) Arrest conditions and constraints:

[0098]

[0099] in Indicates that the drone P i Point to interception point The unit vector, α∈(1,α E ] is a parameter, λ i ≥0 is obtained from the following formula:

[0100]

[0101] This constraint ensures that the pursuer drone can successfully capture the escaping drone, i.e. the interception point moves away from the target area over time.

[0102] 2) Safety distance constraints:

[0103]

[0104] in It is from point to β>0 is the coefficient used to adjust the safety distance constraint. This constraint ensures that the distance between the pursuer drones will not be less than the safety distance, thus avoiding collision.

[0105] 3. Speed ​​constraints:

[0106]

[0107] where v max,P is the maximum velocity of the pursuer drone. This constraint ensures that the velocity input of the pursuer drone is within its physical limits.

[0108] When executing step 104, the optimization problem is solved and the control input is updated, which can be specifically as follows:

[0109] In each control cycle, the current position information of all UAVs is substituted into the optimization problem established in step 103, and the optimization problem is solved using sequential quadratic programming or interior point method to obtain Then the optimal strategy is obtained and Applied to the pursuer drones P1 and P2 respectively, driving them to move towards the interception point while maintaining a safe distance.

[0110] When executing step 105, the termination condition is determined and iterative updates are performed, which may be specifically as follows:

[0111] Determine the capture conditions and check whether any pursuer drone meets the conditions for capturing the escaper drone:

[0112]

[0113] If the above conditions are met, the pursuer drone successfully captures the escaping drone and the mission ends. If the above termination conditions are not met, return to step 101, repeatedly calculate the new avoidance space and interception point, and then execute steps 102, 103, and 104 in sequence until the termination conditions are met.

[0114] Through the above steps, the collision-free capture strategy proposed in this embodiment can ensure the success of the pursuer drone while ensuring a collision-free trajectory between them. This method utilizes the convexity of the optimization problem to ensure the existence and uniqueness of the solution, and can be solved efficiently in real time.

[0115] like Figure 3 As shown, this embodiment provides a multi-UAV collision-free collaborative capture simulation case for attack and defense scenarios. When two pursuer UAVs protect a half-plane target area where y is less than 0, they can ensure that no collision occurs between them in the process of completing the capture of the escapee.

[0116] Example 2

[0117] This embodiment provides a multi-UAV collision-free collaborative capture system for attack and defense scenarios, including:

[0118] The data acquisition module is used to obtain the real-time location data and speed information of the pursuer UAV and the evader UAV in the attack and defense target area;

[0119] The interception point calculation module is used to calculate the dynamic interception point of the escaping UAV based on the real-time position data and speed information of the pursuer UAV and the escaping UAV and the intersection of the avoidance space;

[0120] The anti-collision module is used to construct anti-collision safety constraints between pursuer drones based on the relaxed control obstacle function;

[0121] An optimization module is configured to calculate a constrained optimization problem based on the attack and defense target area, the dynamic interception point of the escaping drone, and anti-collision safety constraints, and generate speed control instructions for the pursuer drone; the constraints in the constrained optimization problem include capture condition constraints, safety distance condition constraints, and speed constraints;

[0122] The capture module is used to iteratively update the speed control instructions of the pursuer drone until the capture conditions of the escaping drone are met.

[0123] Wherein, the interception point calculation module includes:

[0124] Interception point calculation unit, used to calculate the intersection area To the attack and defense target area The nearest point, based on the formula Make Calculating the dynamic interception point of a fleeing drone in are optimization variables, constraints

[0125] In summary, this application has the following technical effects:

[0126] Existing approaches to solving drone attack-defense game problems primarily rely on Hamilton-Jacobi-Isaacs (HJI) and geometric methods. While the HJI method can comprehensively describe player strategies, its computational complexity is extremely high, making it difficult to apply to practical systems. While highly efficient, the geometric method ignores the collision risk associated with coordinated capture by multiple pursuer drones, failing to guarantee collision-free coordination between pursuers.

[0127] To this end, this application proposes a multi-UAV collision-free collaborative capture method for attack and defense scenarios. First, an avoidance space is constructed based on speed ratio-related parameters, and the interception point of the intersection of the avoidance space of multiple heterogeneous pursuers is determined through optimization problems, providing key position guidance for the collaborative defense of pursuers. Secondly, in response to the possible collision problem of pursuers, a relaxed control barrier function (R-CBF) is constructed, and a safety set is defined to quantify the safe distance between pursuers, and it is converted into a constraint in the optimization problem. Finally, the defense target, collision avoidance requirements and speed constraints are integrated into a convex optimization problem, and the speed control input of the pursuer is solved in real time. This strategy ensures the existence and uniqueness of the solution by optimizing the convexity of the problem, thereby improving the solution efficiency. Compared with the HJI method, the computational complexity is reduced; compared with the traditional geometric method, the collision avoidance control of heterogeneous pursuers is added, and the scope of application is expanded. Numerical simulations have verified that the pursuer can successfully capture the fugitive without collision under this strategy. No matter what strategy the fugitive adopts, the pursuer can be guaranteed to win. At the same time, it avoids the problems of high collision risk and poor applicability when multiple pursuer drones work together in existing technologies.

[0128] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A multi-UAV collision-free collaborative capture method for attack and defense scenarios, characterized by: include: Obtain real-time location data and speed information of the pursuer and evader drones in the attack and defense target area; According to the real-time position data and speed information of the pursuer UAV and the evader UAV, the dynamic interception point of the evader UAV is calculated based on the intersection of the avoidance space; Based on the relaxed control barrier function, anti-collision safety constraints between pursuer UAVs are constructed; Based on the attack and defense target area, the dynamic interception point of the escaping drone, and the anti-collision safety constraints, a constrained optimization problem is calculated to generate speed control instructions for the pursuer drone; the constraints in the constrained optimization problem include capture condition constraints, safety distance condition constraints, and speed constraints; Iteratively update the speed control instructions of the pursuer drone until the capture conditions of the escaping drone are met.

2. The method for multi-UAV collision-free collaborative capture in attack and defense scenarios according to claim 1 is characterized in that: The formula for avoiding spatial intersection is: For each pursuer drone-evader drone pair, construct an avoidance space Among them, α∈(1,α E ] represents a constant, Indicates that when α is selected, the escaper drone E is relative to the pursuer drone P i The avoidance space, Indicates whether point x is in the pursuer drone P i The potential energy function in the avoidance space is: Indicates the pursuer drone P i Position of x E represents the position of the escaper drone, r ci Indicates the pursuer drone P i The capture radius, v max,P and v max,E represent the maximum speeds of the pursuer drone and the evader drone respectively; Compute the intersection of the avoidance spaces of two pursuer drones in, Indicates the pursuer drone P i Space for circumvention The closure of , P1 and P2 represent the first pursuer drone and the second pursuer drone.

3. The method for multi-UAV collision-free collaborative capture in attack and defense scenarios according to claim 2 is characterized in that: Calculate the dynamic interception point of the escaping drone, including: According to the intersection area To the attack and defense target area The nearest point, based on the formula Make Calculating the dynamic interception point of a fleeing drone in are optimization variables, constraints 4. The method for multi-UAV collision-free collaborative capture in attack and defense scenarios according to claim 3 is characterized in that: The formula expression of the relaxation control barrier function is: in, are the positions of the pursuer drones P1 and P2 respectively; r s1 ,r s2 ≥0 are the safety radius of the pursuer drones P1 and P2, Indicates the difference between the distance between the pursuer drones P1 and P2 and their safe distance.

5. The method for multi-UAV collision-free collaborative capture in attack and defense scenarios according to claim 4 is characterized in that: The anti-collision safety constraint formula is: Where C represents the state of the pursuer drone Security collection.

6. The method for multi-UAV collision-free collaborative capture in attack and defense scenarios according to claim 5 is characterized in that: The formula expression of the capture condition constraint is: in, Indicates that the drone P i Point to interception point The unit vector, λ i ≥0, 7. The method for multi-UAV collision-free collaborative capture in attack and defense scenarios according to claim 6 is characterized in that: The formula expression of the safety distance condition constraint is: in, Indicates from point to The unit vector of β>0 represents the coefficient used to adjust the safety distance constraint. denote the speed control inputs of the pursuer drone P1 and the pursuer drone P2 respectively.

8. The method for multi-UAV collision-free collaborative capture in attack and defense scenarios according to claim 7 is characterized in that: The formula expression of speed constraint is: Among them, v max,P Indicates the maximum speed of the pursuer drone, Indicates the pursuer drone P i Speed ​​control input.

9. A multi-UAV collision-free collaborative capture system for attack and defense scenarios, characterized by: include: The data acquisition module is used to obtain the real-time location data and speed information of the pursuer UAV and the evader UAV in the attack and defense target area; The interception point calculation module is used to calculate the dynamic interception point of the escaping UAV based on the real-time position data and speed information of the pursuer UAV and the escaping UAV and the intersection of the avoidance space; The anti-collision module is used to construct anti-collision safety constraints between pursuer drones based on the relaxed control obstacle function; An optimization module is configured to calculate a constrained optimization problem based on the attack and defense target area, the dynamic interception point of the escaping drone, and anti-collision safety constraints, and generate speed control instructions for the pursuer drone; the constraints in the constrained optimization problem include capture condition constraints, safety distance condition constraints, and speed constraints; The capture module is used to iteratively update the speed control instructions of the pursuer drone until the capture conditions of the escaping drone are met.

10. The multi-UAV collision-free collaborative capture system for attack and defense scenarios according to claim 9 is characterized in that: The interception point calculation module includes: Interception point calculation unit, used to calculate the intersection area To the attack and defense target area The nearest point, based on the formula Make Calculating the dynamic interception point of a fleeing drone in are optimization variables, constraints

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