现代防御技术 ›› 2022, Vol. 50 ›› Issue (5): 93-105.doi: 10.3969/j.issn.1009-086x.2022.05.013

• 目标特性与探测跟踪技术 • 上一篇    下一篇

基于克隆免疫决策的无人机集群协同探测跟踪

周方宇, 周洁, 陈超波, 高嵩   

  1. 西安工业大学,陕西 西安 710021
  • 收稿日期:2022-03-30 修回日期:2022-05-11 出版日期:2022-10-28 发布日期:2022-11-03
  • 作者简介:周方宇(1998-),男,陕西扶风人。硕士生,研究方向为无人机集群分布式控制,协同围捕等。
  • 基金资助:
    陕西省科技厅重点研发项目(2019GY-066)

Cooperative Detection and Tracking of UAV Swarms Based on Clonal Immune Decision-Making

Fang-yu ZHOU, Jie ZHOU, Chao-bo CHEN, Song GAO   

  1. Xi'an Technological University,Shaanxi Xi'an 710021,China
  • Received:2022-03-30 Revised:2022-05-11 Online:2022-10-28 Published:2022-11-03

摘要:

针对感知范围受限情况下无人机集群对多目标探测跟踪效率低的问题,提出了一种基于克隆选择-传染免疫模型的无人机集群探测与跟踪方法。将病毒传染过程引入无人机集群信息传输中,构建无人机决策激活机制,确保集群资源的有效调度;通过引入克隆选择过程,构建无人机策略决策机制,保证无人机进行合理的策略选择;引入“过热”策略判断机制,避免同一策略被多架无人机执行,以降低遗漏目标情况的发生概率。仿真结果表明:所提方法能够有效提高集群区域探测覆盖面积,实现对更多目标的跟踪。

关键词: 无人机集群, 克隆选择, 传染机制, 目标探测, 目标跟踪, 协同决策

Abstract:

Aiming at the problem of low efficiency of multi-target detection and tracking of unmanned aerial vehicle (UAV) swarms under the restricted sensing range, a detection and tracking method of UAV swarms based on the clonal selection-infection immunity model is proposed. The virus infection process is introduced into the information transmission of the UAV swarm, and the UAV decision-making activation mechanism is constructed to ensure the effective scheduling of cluster resources; the UAV strategy decision-making mechanism is constructed by introducing the clone selection process to ensure the reasonable operation of the UAV. At the same time, the "overheating" strategy judgment mechanism is introduced to prevent the same strategy from being executed by multiple drones, and to reduce the probability of missing targets. The simulation results show that the proposed method can effectively improve the detection coverage area of the cluster area and realize the tracking of more targets.

Key words: unmanned aerial vehicle (UAV) swarm, clone selection, infection mechanism, target detection, target tracking, collaborative decision-making

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