无 人 机 仿 鸟 群 协 同 控 制 发 展 现 状 及 关 键 技 术

Unmanned Aerial Vehicle（UAV）swarms have been widely used in disaster relief，reconnaissance and surveillance，anti-terrorism and stability maintenance and many other fields，and highly autonomous intelligent UAV swarms based on“swarm intelligence”have become a hot spot all over the world. Birds have the characteristics of high autonomy and robustness；therefore，it is an important way to solve the cooperative control problems of UAVS swarms by mapping the birds’behavior rules to UAVS swarm systems. In order to better guide the innovation of technology and theory of UAV swarms，this paper summarizes the research status，key technologies and future development of cooperative control of bird-inspired UAV swarms. Firstly，typical projects and main progress of UAV swarms at home and abroad are introduced. Secondly，the development status of bird flocks is reviewed from three levels：internal structures，interaction rules and behavior mechanisms. Besides，the research status and challenges of cooperative control of bird-inspired UAV swarms is summarized and analyzed in bird-inspired hierarchical control，bird-inspired interaction control and bird-inspired behavior control，respectively. Then，for the future development of cooperative control of UAV swarms，a new technology，which is called phase transition control of swarm behavior for bird-inspired UAV swarms，is proposed. Finally，the trend of cooperative control of bird-inspired UAV swarms is prospected，to provide ideas and basis for the development of UAV swarms in the future.