基于群体智能的多无人机编队自主协调控制及验证

This project mainly focuses on solving the problem of multiple Unmanned Aerial Vehicle (multi- UAV) autonomous formation control and verification under complicated dynamic environments. Firstly, a novel framework of swarm intelligence is designed. The dynamics characteristics, including the convergence and the stability of swarm intelligence are also investigated in detail. Then, bio-inspired intelligence based situation assessment is studied, and multi-UAV distributed collaborative decision and real-time obstacle avoidance techniques are also presented, which is based on swarm intelligence behaviours. Subsequently, multi-UAV coordinated formation control and optimization methods based on swarm intelligence are further studied. Finally, an integrated software and hardware package for multi-UAV autonomous formation control and verification based on swarm intelligence is developed. All the above theories and techniques will be tested and verified in the integrated simulation platforms of national key laboratory of Beihang University and Shenyang Aircraft Design & Research Institute, which is significant for revealing the mechanisms of swarm intelligence, and clarifying relationship between multi-UAV autonomous formation control and swarm intelligence. This project can provide a new breakthrough direction and feasible way for multi-UAV coordinated control in complicated environments, and also lay an important technical foundation for autonomation, integration and intelligentization of modern UAV systems.

以无人机为背景，以解决复杂环境下的多无人机编队自主协调控制及验证问题为目标，在设计并完善群体智能统一框架基础上，深入研究群体智能动力学模型特性，并研究其收敛性与稳定性；探索研究基于仿生智能的无人机态势评估技术，系统研究基于群体智能的多无人机分布式协调决策及实时避障方法，研究基于群体智能的多无人机协调编队与编队构型优化，开发基于群体智能的多无人机编队自主协调控制平台，并在飞行器控制一体化技术国防科技重点实验室和中航工业沈阳飞机设计研究所现有的多无人机仿真试验平台上进行半物理仿真验证和外场编队飞行验证，从而对阐明群体智能机制、揭示群体智能与多无人机编队自主协调控制之间的关系有重要意义。该项目可为复杂动态环境下无人机协调控制提供一个新的突破方向和可行技术途径，同时为现代无人机系统自主化、综合化和智能化奠定技术基础。

以无人机为背景，以解决复杂环境下的多无人机编队自主协调控制及验证问题为目标，在设计并完善群体智能统一框架基础上，深入研究了群体智能动力学模型特性，并研究了其收敛性与稳定性；研究了基于仿生智能的无人机态势评估技术，系统研究了基于群体智能的多无人机分布式协调决策及实时避障方法，研究了基于群体智能的多无人机协调编队与编队构型优化，开发了基于群体智能的多无人机编队自主协调控制平台，并在多无人机平台上进行了外场编队飞行验证，对阐明群体智能机制、揭示群体智能与多无人机编队自主协调控制之间的关系有重要意义。. 依托相关成果共发表SCI国际期刊论文71篇，EI期刊论文13篇，EI会议论文14篇，出版学术专著2部，授权发明专利13项，授权实用新型专利3项，受理发明专利63项，其中包含2项美国专利，授权计算机软件著作权7项。相关成果获国防科技进步特等奖、中国自动化学会(CAA)技术发明一等奖、国防技术发明二等奖等科技奖励。项目执行期间，该项目负责人入选了国家杰出青年科学基金获得者、万人计划-科技创新领军人才、科技部中青年科技创新领军人才等，并获高等教育国家级教学成果二等奖、北京市高等教育教学成果一等奖等。培养的博士生和硕士生10余人次获中国人工智能学会优秀博士学位奖、北航校级优秀博士学位论文奖、校级优秀硕士学位论文奖，20余人次获工信部创新创业奖学金、国家奖学金、北航校长奖学金-研究生创新团队奖、北航博士生卓越创新基金等。本项目合作单位沈阳飞机设计研究所课题负责人范彦铭研究员被提名为2017年中国科学院信息技术科学部院士有效候选人。. 该项目部分创新性成果已应用于无人机、战斗机、加油机、导弹等相关国家重大型号研制，为现代无人系统自主化、综合化和智能化奠定了重要技术基础。