关键词: 无人机, 多目标跟踪, 集群信息共识, 协同决策, 自组织

Abstract: Distributed UAV swarms can achieve collaborative tracking and dynamic task allocation through autonomous decision-making and information interaction, demonstrating significant application potential in complex and dynamic target tracking control scenarios. Aiming to address the challenge that single swarm’s poor performance in tracking multiple separating moving targets, a self-organized dynamic decision-making method for UAV swarm based on information consensus is proposed. Firstly, considering the communication distance constraints and communication delays between UAVs, a swarm information consensus algorithm based on the latest timestamp forwarding principle is designed to achieve information consensus among UAVs. Secondly, a swarm collaborative decision-making algorithm based on request-response is proposed, realizing member allocation, decision-making and self-organized grouping. Finally, a target tracking control algorithm based on a self-coordination mechanism is designed, achieving adaptive adjustment of control component weights and self-organized target tracking. Compared to existing research on multi-target tracking, the method presented in this paper can realize dynamic target allocation decision-making during the target tracking process and determining the number of UAVs allocated to each target based on the escape risk of each target. Simulation results show that the proposed method can achieve self-organized grouping of the swarm when targets are separating, with a grouping accuracy rate of above 0.9.

Key words: unmanned aerial vehicles (UAV), multi-target tracking, swarm information consensus, collaborative decision-making, self-organizing