| Popis: |
Multi-UAV enclosing has become one of the important attack methods in modern air combat. Recently, the algorithms of multi-UAV enclosing have been extensively studied to improve the formation speed of multi-UAV enclosing and improve the robustness. However, these algorithms fail to consider the impact of sensor failure on UAV, nor do consider the formation convergence speed at the initial stage of multi-UAV enclosing. Aiming at these problems, a method of multi-target assignment and multi-UAV enclosing based on competition and cooperation mechanism is proposed.Firstly, the competition mechanism is analysed, and the multi-target assignment method based on the competition mechanism is designed to improve the formation convergence speed.Secondly, a multi-UAV enclosing method is designed based on the cooperation mechanism.The method transforms the topology of the UAV to obtain the formation when the detection failure or communication failure happens. In the simulation, the designed method can form the enclosing formation faster, and has stronger robustness when the detection failure or communication failure happens. |
