作者：颜宝苹1, 周洁1, 申强2, 高嵩1
作者单位：1. 西安工业大学电子信息工程学院，陕西 西安 710021;
2. 西北工业大学 空天微纳系统教育部重点实验室，陕西 西安 710072
关键词：无人机集群;目标探测;传染机制;免疫机制
摘要：
目标跟踪是无人机集群作战中的一个重要问题。为使无人机集群在进行目标跟踪的过程中快速做出响应，提出一种基于传染-免疫仿生模型的无人机集群协同探测及跟踪策略。通过对传染机制和免疫机制的生物机理进行分析，建立基于传染-免疫机制的仿生模型，该模型包括直接传染、交叉传染和免疫修复 3 个子过程，将其映射到无人机集群目标跟踪中，实现数据驱动作用下目标信息在集群内的快速传播，使得整个集群在保持协调一致的同时能够快速准确的做出跟踪响应。基于目标跟踪背景的仿真结果表明，该模型作用下的无人机集群实现对移动目标的持续探测。
Cooperative detection and tracking of UAV swarm based on infection-immune mechanism
YAN Baoping1, ZHOU Jie1, SHEN Qiang2, GAO Song1
1. School of Electronics and Information Engineering, Xi'an Technological University, Xi'an 710021, China;
2. MOE Key Laboratory of Micro/Nano Systems for Aerospace, Northwestern Polytechnical University, Xi'an 710072, China
Abstract: Target tracking is an important issue in UAV swarm. A cooperative detection and tracking strategy of UAV (unmanned aerial vehicles) swarm based on the infection-immune mechanism is proposed, to make the UAV swarm to respond quickly in the process of target tracking. Through the analysis of the infection mechanism and the immune mechanism, a bionic model based on the infection-immune mechanism is established. The model includes three sub-processes of direct infection, cross infection and immune repair, which are mapped to the UAV swarm target tracking. It realizes the rapid dissemination of target information in the swarm under the action of data driving, so that the entire swarm can quickly and accurately track while maintaining coordination and consistency. The simulation results based on the target tracking background show that the UAV swarm under the action of this model realizes the continuous detection of moving targets.
Keywords: UAV swarm;target detection;infection mechanism;immune mechanism
2021, 47(1):88-95 收稿日期: 2020-11-06;收到修改稿日期: 2020-12-04
基金项目: 国家自然科学基金面上项目（52075454，51705430）；陕西省重点研发计划项目（2019GY-066）；陕西教育厅专项科研计划项目（19JK0407）；太仓科学技术计划项目（TC2018DYDS19）；陕西省科技新星支持项目（2020KJXX-072）
作者简介: 颜宝苹(1993-),女,陕西渭南市人,硕士研究生,专业方向为无人机集群协同控制
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