Anticollision Decision and Control of UAV Swarm Based on Intelligent Cognitive Game

Abstract

UAV swarm anticollision system is very important to improve the flight safety of the whole swarm formation, while the existing system design methods are still insufficient in realizing autonomous and cooperative anticollision. Based on the cognitive game theory, an intelligent decision-making and control method for UAV swarm anticollision is designed. Firstly, by using the idea of swarm intelligence, basic flight behaviors of UAV swarm are defined as five basic flight rules, such as cohesion, following, self-guidance, dispersion, and alliance. Further, the cognitive security domain of UAV swarm is constructed by setting the overall anticollision rules of the swarm and the anticollision rules of individual members. On this basis, the anticollision problem of UAV swarm is transformed into a game problem involving two parties, and the solution method of decision and control strategy set is proposed. Finally, the stability of anticollision decision and control method is proved through eigenvalue theory. The simulation results show that the method proposed in this paper can effectively realize the autonomous cooperative anticollision of UAV swarm and also has good algorithm real-time solution ability while ensuring flight safety.