基 于 集 群 围 捕 的 非 合 作 无 人 机 反 制 方 法

Uncooperative drones pose a serious threat to low-altitude safety，and traditional countermeasures against drones struggle to effectively handle the safe recovery of non-cooperative drones. This paper proposes a countermeasure method for tracking and capturing non-cooperative drones using multiple drones. The trajectory of the non-cooperative drones is predicted based on Bézier curves. Using the predicted trajectory，the center of the drone formation is treated as a virtual leader. A real-time trajectory planning method for the formation center is proposed，considering visibility constraints in obstacle-rich environments for capturing dynamic targets. Subsequently，affine transformations are utilized to alter the formation shape，enhancing the ability to navigate through narrow areas while ensuring safe flight of the drone cluster and stable tracking and capture of the target. Finally，simulations conducted in various obstacle environments demonstrate the feasibility of the proposed method.