Area Control of Unmanned Aerial Vehicles Swarm Based on Lanner-Jones Potential
Jintao Liu, Ming Xuan He, Wei Tian, Qiang Liu, Minggang Yu, Peng Xu · 2022 5th International Symposium on Autonomous Systems (ISAS) · 2022
Unmanned Aerial Vehicle (UAV) swarm area refers to the space occupied by a certain number of UAVs. By regulating the area of UAV swarm, the reflection area of radar is affected to reduce the exposure risk. To realize the effective modulation of UAV swarm area, inspired by the gas expansion phenomenon, an area modulation method of UAV swarm based on Lanner-Jones interatomic potential model is proposed. Firstly, the area measurement method based on the minimum convex hull algorithm is proposed to solve the bottleneck that the swarm distribution cannot be quantitatively analyzed. Secondly, on the basis of Vicsek flocking interaction model, the relative distance control method based on Lanner-Jones two-body interaction potential is proposed, which can realize the effective control of the global aera with the distance between two bodies as the unique variable. Finally, the simulation verification is carried out and the effects of the two control parameters named repulsion -distance and perception-distance on swarm aera is analyzed. The conclusion is that repulsion-distance is the dominant variable of swarm aera.