The Modeling And Characteristic Analysis Of Self-organizing UAV Swarm

At present,Unmanned Aerial Vehicles(UAV)have been widely used in military,commercial,agricultural and other fields,and compared with single UAV,UAV swarms have many advantages such as high efficiency and good fault tolerance,which will be an indispensable part of military and civilian application in the future.However,for the control problem of large-scale UAV swarm,the current control models have their own deficiencies and need to be task-specific modeling.In addition,it is meaningful to effectively evaluate the UAV swarms.However,UAV swarms involve a variety of complex sciences and it is very difficult to test them.This paper explores the modeling and characteristics of self-organizing UAV swarms as following.(1)For the regional collaborative search problem,a collaborative search algorithm suitable for large-scale UAV swarm motion is established based on the Boids model.The original Boids model has three rules: cohesion,alignment,separation.According to the characteristics of the search task,the paper improved the model with six rules of centrifugation,disorder,separation,inertia,random and reverse.The simulation is carried out.The UAV swarm under the control of the algorithm can achieve full coverage of the target search area with probability 1,and its search efficiency is significantly higher than random search.(2)In view of the deficiencies of the Cucker-Smale model,it is improved according to the actual task needs,which enables the swarm to avoid collisions,form specific formations and move to specific directions,and verify the correctness of the model through simulation.(3)According to the formation,communication and quantity attributes of the UAV swarm,the function of the swarm is constructed.By using different ways to interfere with the UAV swarm based on the improved Cucker-Smale model motion,a quantitative evaluation method for swarm for some kind of interference vulnerability is proposed.Tt is found that the vulnerability of UAV swarms to different interferences is not the same.In general,strategic interference affects the swarm more than random interference.(4)Exploring the influence of the UAV communication radius on the UAV swarm.For different models,the influence level is different.The communication radius has almost no effect on the collaborative search of rule-based UAV swarm,but it has a significant impact on its vulnerability assessment.