UAV Swarm Cooperative Hunting Based on Cruise-Trap-Capture
摘要
In view of the topic of cooperative hunting for moving targets by UAV swarm, a three-stage hunting strategy of cruise-trap-capture based on Apollonius circle is put forward. First, the pursuer distributed formation transformation is presented based on the consistency theory, and a proper evader strategy is designed in the dynamic game process. Second, in the trap stage, according to the relative position between the evader and the Apollonius circle, the desired capture formation and the evader gallery are constructed, which avoids detection by the evader before forming the trapping formation and prevents the evader from bypassing the pursuer swarm. Third, in the capture stage, based on the position of other pursuers around the evader, the occupation angle and coverage angle based on the Apollonius circle are proposed to improve the coverage angle and reduce the distance, which ensures that the pursuers form a stable capture formation and get close to the evader in parallel. Finally, the effectiveness of the cooperative hunting strategy is verified by Airsim. In the end, we validate the convincingness of our proposed cooperative hunting approach through simulations on the Airsim simulation platform.