基于数字信息素的无人机集群搜索控制方法

研究了无人机集群搜索问题的由来、概念、特点，反应行为机制的重要性以及信息素的应用价值。模拟两种基本的生物信息素，设计了一种基于数字信息素的无人机集群搜索控制方法。从全局决策和单机决策的角度，建立了基于数字信息素的无人机集群搜索分布式决策方法。抽象出所建立的数字信息素模型的主要特征，研究分析了具备此类特征的集群搜索系统的稳定性，并确定了集群边界。仿真结果表明，该方法能够形成稳定的数字信息素闭环，能够和所设计的飞行决策方法结合，使多机呈现出鲜明的集群行为特征，实现无人机集群搜索控制；仿真同时表明，该方法驱动的无人机集群搜索的效率显著优于常规编队模式，这也从侧面证明了无人机集群的搜索能力远高于无人机编队。

Digital-pheromone-based control method for UAV swarm search

The origin, concept, characteristics, importance of a reactive behavior mechanism and the appliance prospect of pheromone are systematically researched. A digital-pheromone-based method for unmanned aerial vehicle (UAV) swarm is designed based on two basic types of biological pheromones. From both overall and individual perspective, a digital-pheromone-based decision making method for UAV swarm control is established. The basic characteristics of this mechanism are abstracted, the stability of this kind of mechanism is analyzed and the boundary of swarm is obtained. The simulation result shows that this mechanism is able to form a stable digital pheromone loop and integrate with the decision making method, which makes UAV group present vivid swarm characteristics, thus realizing UAV swarm search control. Moreover, UAV swarm driven by digital-pheromone is notably superior to formation pattern as for searching for targets, which also proves that the search capacity of UAV swarm is much more superior than that of traditional formation indirectly.