Design and Implementation of UAV Swarm Self-organizing Search Model

doi:10.16182/j.issn1004731x.joss.21-0200

Abstract

Abstract:

The UAV swarm self-organizing search for moving target under the urban threat is an important implement of UAV swarm. Though Agent-based complex system modeling and simulation tools, the framework of UAV swarm search simulation model is constructed, and the self-organizing search model of UAV swarm is designed. Under the possible threats to the operational use of UAVs, the concept of self-organizing search for UAV swarm is preliminarily realized and demonstrated, and the solution of autonomous decision making for UAV swarm based on the probability-based finite state machine model is explored, which is analyzed and verified by a case. The simulation model of UAV swarm self-organizing search provides a reference case, model support and test platform for UAV swarm operation application research.

Key words: UAV swarm, self-organization, search, threat environment, simulation, probabilistic finite-state machines(PFSMs)

CLC Number:

TP391

Kan Li, Yunpeng Li, Jiangbo Zhao. Design and Implementation of UAV Swarm Self-organizing Search Model[J]. Journal of System Simulation, 2022, 34(8): 1820-1833.

Figures/Tables 14

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Table 1

Table of UAV performance indicators parameters

巡航速度

$v T$ /(m/s)

最大速度

$v m a x$ /(m/s)

最小速度

$v m i n$ /(m/s)

最大转弯角

$α m a x$ /((°)/s)

识别概率

$q$ /%

探测范围

$R$ /km

失效率

$θ$ /%

跟踪距离

$d$

无人机间隔

$G$

0.5

0.5 R

2 R

Table 1

Table 2

Weapon parameters for enemy projectiles combined with air defense systems

导弹

防空火炮

展开时间

t d e p l o y

/min

反应时间

t r e a c t

数量

N m

/枚

射程

R m

/km

射高

H m

/km

口径

C b

/mm

基数

N b

/发

射速

S b

/(千发/s)

射程 $R b$ /

射高 $N b$ /

毁伤半径

r b

1~20

5~15

1 400

0.5

3~5

4~8

Table 2

Table 3

Related parameter involved in electronic countermeasures

无人机GPS接收端		干扰机		导航卫星
天线增益 $G g$ /dB	系统损耗 $L g$ /dB	发射功率 $P j$ /W	天线增益 $G j$ /dB	高度 $R t$ /km	发射功率 $P t$ /W	天线增益 $G t$ /dB
3	2	6	0	20 200	24	10

Table 3

Fig. 8

Fig. 9

Fig. 10

Fig. 11

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