面向多目标跟踪的集群无人机自组织共识决策方法

doi:10.7527/S1000-6893.2024.31635

Abstract

Abstract:

Distributed Unmanned Aerial Vehicle （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. To address poor performance of the single swarm 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 proposed method 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 vehicle (UAV), multi-target tracking, swarm information consensus, collaborative decision-making, self-organizing

CLC Number:

V249.12

Jiang ZHAO, Minghao PI, Bailing TIAN, Pei CHI, Yingxun WANG. Self-organized consensus decision-making method for swarm UAV tracking multiple targets[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(16): 331635.

Figures/Tables 26

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Table 1

Fixed parameter values of consensus decision-making method

参数	取值	参数	取值
$D r e p / m$	60	$D c o n / m$	200
$N m i n$	2	$K p v, K d v$	20，2
$N m a x$	6	$K p θ, K d θ$	20，2
$D m a x / m$	200	$w n 0$	10
$D m i n / m$	50	$w r e p 0$	5
$D a t t r / m$	50	$w c o n 0$	10

Table 1

Table 2

Target separation path

目标	1	2	3
阶段1	左转 $γ$	直行	右转 $γ$
阶段2	直行	直行	直行
转弯半径	$R s e p$		$R s e p$

Table 2

Table 3

Fig.13

Fig.14

Fig.15

Fig.16

Table 4

Target path parameters

实验组	转弯角度 $γ / (°)$	转弯半径 $R s e p / m$
1	50	300
2	60	250
3	70	200
4	80	150
5	90	100

Table 4

Fig.17

Table 5

Fig.18

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Fig.20

Fig.21

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参数类型	参数名称	符号
条件参数	通信距离	D_com
	通信时延	Δt_c
	共识决策周期	τ_r
	接收时间阈值	Δt_max
	目标转弯角度	γ
	目标转弯半径	R_sep
性能指标	时间代价	t_cost
	路径代价	p_cost
	集群分组能耗	e_cost
	分组信息不一致程度	η_group
	目标信息不一致程度	η_tar
	无差率	η_acc

实验组	路径代价/m	时间代价/s	集群分组能耗	分组信息不一致程度	目标信息不一致程度	无差率
1	94.39	2.84	189.68	0.44	19.40	0.96
2	92.63	2.79	191.17	0.45	18.29	0.90
3	97.67	2.96	194.70	0.49	22.30	0.90
4	83.89	2.52	185.82	0.49	23.77	0.90
5	109.17	3.33	221.01	0.60	34.86	0.90

Self-organized consensus decision-making method for swarm UAV tracking multiple targets

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