基于寒鸦配对交互行为的无人机集群编队控制

Inspired by the paired flight mechanism of jackdaws, a paired interactive swarm model is proposed and applied to the Unmanned Aerial Vehicle (UAV) swarm control system. Firstly, by imitating the paired interaction between jackdaw individuals, the neighbor selection mechanism is designed in pairing interaction. Considering inertial acceleration, long-range attraction, close-range repulsion, speed matching and motion damping, the paired and unpaired individual's differential equation of kinematics is established based on the social forces. Then the construction of the paired interaction model is completed. Secondly, based on the UAV control model, a UAV swarm controller in paired interaction mechanism is designed. Finally, two sets of simulation experiments are conducted to study the characteristics of the model proposed when it is used on the UAV swarm. Simulation results show that the paired interaction model can ensure the consistency of the UAV swarm. The communication load of the UAVs can be reduced by less average number of neighbors in UAV interaction. The UAV swarm has higher stimulation accuracy if the paired UAV is taken as the information individual when facing external stimuli.