摘要
针对存在通信时延的无人机群集系统分群控制问题,设计了基于蚁群算法的协同分群控制算法。借鉴蚁群算法概率公式,利用个体自身位置信息和存在通信时延的任务信息(期望子群规模和群目标运动信息),设计了子群数量和规模可控、结构和速度调整较小的分群策略;将存在通信时延的群目标运动信息融入协同分群控制律中,实现了子群速度动态可控的分群,并利用Lyapunov稳定性定理和LaSalle不变性原理进行了稳定性分析;通过仿真实验进行了方法的有效性验证。结果表明,在通信时延约束下,所设计算法能够使群集系统实现结构和速度调整较小的可控分群行为。
For the fission control problem of UAV swarm with communication delay,a cooperative fission control algorithm based on ant colony algorithm is designed.Firstly,based on probability formula of ant colony algorithm,a fission strategy with controllable number and scale of sub-swarms and small adjustment of structure and speed is designed by using individual location information and task information with communication delay(expected sub-swarm size and swarm target motion information).Secondly,the swarm target motion information with communication delay is integrated into the cooperative fission control law to realize the fission with dynamically controllable sub-swarm velocity,and the stability is analyzed by using Lyapunov stability theorem and LaSalle invariance principle.Finally,the method effectiveness is verified by simulation experiments.The results show that under the constraint of communication delay,the proposed algorithm can enable swarm system to achieve controllable fission behavior with less adjustment of structure and speed.
作者
李成凤
刘胜军
张弘强
沈家豪
武凡
LI Chengfeng;LIU Shengjun;ZHANG Hongqiang;SHEN Jiahao;WU Fan(School of Electrical Engineering,Suihua University,Suihua 152001,China)
出处
《无线电工程》
北大核心
2022年第4期536-543,共8页
Radio Engineering
基金
黑龙江省大学生创新创业项目(202110236011)
黑龙江省省属高校基本科研业务费基础研究项目(2017-KYYWF-0726,KYYWF10236190202)。
关键词
通信时延
无人机群集系统
分群控制
蚁群算法
子群规模
速度可控
communication delay
UAV swarm
fission control
ant colony algorithm
sub-swarm scale
controllable velocity
作者简介
李成凤,女,(1986—),毕业于吉林大学控制理论与控制工程专业,硕士,讲师,主要研究方向:多智能体协同控制;刘胜军,男,(2000—),主要研究方向:多智能体协同控制;张弘强,男,(1973—),硕士,副教授,主要研究方向:智能控制算法;沈家豪,男,(2001—),主要研究方向:多智能体协同控制;武凡,男,(2001—),主要研究方向:多智能体协同控制。
