仿鸟群自推进机制的无人机集群相变控制

A phase transition control method for unmanned aerial vehicle (UAV) swarms based on the bird-inspired self-propelled particle model has been proposed to address the problem of motion phase transition of UAV swarms. Firstly, inspired from bird flock behavior, a bird-like motion model is constructed by designing a velocity maintenance term and a potential gradient term, and a phase transition control term is designed to simulate the attraction of the nest to the flock to achieve transition between different phases. Subsequently, the motion modalities of the swarm under the designed phase transition control law were discussed, demonstrating that the UAV swarm is capable of achieving two stable motion phases and reversible transition between them. Ultimately, simulations proved the existence of two stable motion phases within the swarm, and the proposed phase transition control protocol was validated to enable mutual transitions between the two motion phases.