基于集群围捕的非合作无人机反制方法

宗子怡; 董鑫; 屠展; 向锦武

doi:10.7527/S1000-6893.2024.31349

航空学报 >

2025 , Vol. 46 >Issue 11: 531349 - 531349

DOI: https://doi.org/10.7527/S1000-6893.2024.31349

论文

基于集群围捕的非合作无人机反制方法

宗子怡 ,
董鑫 ,
屠展 ,
向锦武

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^1.北京航空航天大学航空科学与工程学院，北京 100191
^2.北京航空航天大学杭州市北京航空航天大学国际创新研究院，杭州 311115
^3.北京航空航天大学无人系统研究院，北京 100191
^4.天目山实验室，杭州 311115

．E-mail： xindong324@buaa.edu.cn

收稿日期: 2024-10-08

修回日期: 2024-11-04

录用日期: 2024-12-10

网络出版日期: 2024-12-18

基金资助

国家级项目

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Countermeasures against uncooperative drones based on swarm encirclement

Ziyi ZONG ,
Xin DONG ,
Zhan TU ,
Jinwu XIANG

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^1.School of Aeronautic Science and Engineering，Beihang University，Beijing 100191，China
^2.Hangzhou International Innovation Institute of Beihang University，Beihang University，Hangzhou 311115，China
^3.Institute of Unmanned System，Beihang University，Beijing 100191，China
^4.Tianmushan Laboratory，Hangzhou 311115，China

E-mail： xindong324@buaa.edu.cn

Received date: 2024-10-08

Revised date: 2024-11-04

Accepted date: 2024-12-10

Online published: 2024-12-18

Supported by

National Level Project

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摘要

非合作无人机严重威胁低空安全，传统无人机反制方法难以有效处理非合作无人机的安全回收问题。针对该问题提出了一种多无人机跟踪围捕非合作无人机的反制方法。基于贝塞尔曲线实现了非合作无人机运动轨迹预测。基于预测轨迹，将无人机编队中心视为虚拟领导者，提出考虑视野约束的障碍环境下围捕动目标的编队中心实时轨迹规划方法。然后利用仿射变换改变编队队形提高狭窄区域通过能力，同时保证集群编队安全飞行和对目标的稳定跟踪围捕。最后，通过多种障碍环境下的仿真试验证明了所提方法的可行性。

关键词： 协同围捕; 轨迹预测; 视野约束; 运动规划; 编队控制

本文引用格式

宗子怡 , 董鑫 , 屠展 , 向锦武 . 基于集群围捕的非合作无人机反制方法[J]. 航空学报, 2025 , 46(11) : 531349 -531349 . DOI: 10.7527/S1000-6893.2024.31349

Abstract

Uncooperative drones pose a serious threat to low-altitude safety， and traditional countermeasures against drones struggle to effectively handle the safe recovery of non-cooperative drones. This paper proposes a countermeasure method for tracking and capturing non-cooperative drones using multiple drones. The trajectory of the non-cooperative drones is predicted based on Bézier curves. Using the predicted trajectory， the center of the drone formation is treated as a virtual leader. A real-time trajectory planning method for the formation center is proposed， considering visibility constraints in obstacle-rich environments for capturing dynamic targets. Subsequently， affine transformations are utilized to alter the formation shape， enhancing the ability to navigate through narrow areas while ensuring safe flight of the drone cluster and stable tracking and capture of the target. Finally， simulations conducted in various obstacle environments demonstrate the feasibility of the proposed method.

Key words： collaborative capture; trajectory predication; visibility constraint; motion planning; formation control

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