基于博弈策略的双无人机冲突解脱方法

针对无人机在空域飞行时完成冲突解脱所存在的消耗时间长、绕飞距离严重、机动次数多等问题，在2架无人机发生冲突的条件下，基于博弈论的知识，提出一种双无人机冲突解脱方法。首先，依据2架无人机的运动模型建立冲突探测模型，求出达到最小距离的时间公式，根据此公式反解出2架无人机改变的速度或航向值；其次，将鹰鸽博弈与贝叶斯博弈结合，以期望效用分析适合双方的解脱策略；最后，完成解脱后为减小航迹偏离等情况，无人机执行恢复策略恢复至初始状态。结果表明，与单机解脱相比，在解脱时间、绕飞距离、总飞行时间及总飞行距离方面的效果都有所改善。改进后的探测模型不仅能迅速计算出解脱策略改变值，而且在引入博弈策略后冲突双方可根据自身最大效益选择解脱策略，解决冲突解脱问题的方法简单有效，可以保证无人机在空域内发生冲突时能快速解脱。

A method of dual UAVs conflict resolution based on game strategy

Aiming at the problems of long time consumption,serious fly-around distance and frequent change when UAVs are flying in the airspace,under the condition of conflict between two UAVs,a dual UAV conflict resolution method was proposed based on the game theory.Firstly,a conflict detection model was established based on the kinematic model of two UAVs,then the time formula for the minimum distance between the two UAVs was obtained.According to the formula,the changed speed or heading angle value of the two UAV was reversely solved.Secondly,the suitable extrication strategies for both sides with the expected utility were analyzed by combining the Hawk Dove game with the Bayesian game.Finally,UAVs executed the recovery strategy to return to the initial state in order to reduce the track deviation after conflict resolution.The results show that compared with the single-UAV release,the effect of release time,fly-around distance,total flight time and total flight distance are improved.The improved detection model can not only quickly calculate the change value of the extrication strategies,but also choose the extrication strategies according to their own maximum benefits after introducing the game strategy for both sides.The method is simple and effective in the problem of conflict resolution,which ensures that the UAV can quickly accomplish conflict resolution.