基于群体熵度量的无人机集群目标合围控制

In this study, the target enclosing problem of multiple unmanned aerial vehicles (UAVs) is investigated, and a distributed swarm target enclosing control protocol based on the local metric-distance communication is presented. First, the neighborhood of UAVs for each UAV is determined on the basis of metric-distance communications, and the inner interaction potential function of UAVs within a swarm, the interaction potential function between UAVs and obstacles in a flight environment, and the interaction potential function between UAVs and the target UAV are designed on the basis of a smooth pairwise potential function. Then, the distributed swarm target enclosing control protocol based on a self-organizing principle is developed, which makes the UAVs form a stable α-lattice enclosure configuration centered on the target UAV with a specified radius. Meanwhile, all UAVs can avoid obstacles in a flight environment, guaranteeing their flight safety. After that, the stability of the swarm system is validated by the Lyapunov stability theorem, and the condition of collision and the range of the enclosing configuration parameters are given. In addition, the concept of crowd entropy is used to measure the self-organization level of the swarm. Finally, the effectiveness of the proposed algorithm is verified by simulation.