Aircraft autonomous formation method based on potential game

Abstract

The invention discloses an aircraft autonomous formation method based on potential game, and the method comprises the steps: constructing an aircraft potential game group interest function according to an aircraft formation rule; constructing a potential game individual interest function according to the information obtained by each aircraft and the group interest function; regularly updating theaircraft information according to a distributed rule, so as to enable the group interest and the individual interest. The invention proposes an aircraft autonomous formation distributed collaborativedecision-making method based on potential game and the formation rule under the condition that a communication link loses a packet, and the method gives full consideration to the localization of the individual interest and individual information, also gives consideration to the optimization of the group interest, and can guarantee that the large-scale high-dynamic aircraft autonomous formation achieves the distributed dynamic target distribution under the conditions that there is a certain information uncertainty and there is packet loss in the network communication.

Description

technical field [0001] The invention relates to the technical field of autonomous control of unmanned aerial vehicles. More specifically, it involves a potential game-based autonomous formation method for aircraft. Background technique [0002] Collaborative decision-making methods can generally be divided into centralized, distributed and distributed methods according to the decision-making mechanism. The centralized decision-making can ensure the consistency and optimality of the results, but when the formation scale is large, there will be a large amount of computing and communication information. , the robustness and stability of the system cannot be guaranteed under the condition of strong information uncertainty or serious packet loss; the distributed type is between distributed and centralized, such as hierarchical decision-making, to a certain extent, the same There is a problem of centralized decision-making; and distributed decision-making can ensure that each for...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to use the distributed cooperative decision-making method of autonomous formation of aircraft based on potential game and formation principle to solve the problem of distributed decision-making based on TDMA communication protocol of autonomous formation of aircraft in a complex confrontation environment when there is packet loss in the communication link. Reliability, real-time and practical issues

Images