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论文:2022,Vol:40,Issue(4):812-818 |
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引用本文： |
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卢楠, 王晓东, 唐政, 何佩. 基于时空混成Petri网的无人机集群行为建模方法[J]. 西北工业大学学报 |
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LU Nan, WANG Xiaodong, TANG Zheng, HE Pei. Modeling method of unmanned aerial vehicle swarm behavior based on spatiotemporal hybrid Petri net[J]. Northwestern polytechnical university |
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| 基于时空混成Petri网的无人机集群行为建模方法 |
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| 卢楠1, 王晓东2, 唐政3, 何佩2 |
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1. 西北工业大学宁波研究院, 浙江 宁波 315103;
2. 西北工业大学 计算机学院, 陕西 西安 710072;
3. 中国电子科技集团公司数据链技术重点实验室, 陕西 西安 710072 |
| 摘要: |
| 越来越广泛应用的无人机集群作战在信息化全球新军事变革中受到高度关注,集群一体化建模对作战模式的测试验证具有重要的意义和价值。结合作战场景的建模仿真需求,以异构无人机集群协同作战过程为研究对象,从无人机单体建模入手,在单体作战过程形式化和数学描述的基础上,基于时空混成Petri网描述异构无人机集群系统的离散状态和连续过程,有效解决了集群系统中物理、计算过程的融合问题和交互事件建模问题。选取UPPAAL对无人机集群打击任务建模进行形式化验证,表明所提建模方法可行、有效。 |
| 关键词:
异构无人机集群
时空混成Petri网
集群建模
形式化验证
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| Modeling method of unmanned aerial vehicle swarm behavior based on spatiotemporal hybrid Petri net |
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| LU Nan1, WANG Xiaodong2, TANG Zheng3, HE Pei2 |
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1. Ningbo Institute of Northwestern Polytechnical University, Ningbo 315103, China;
2. School of Computer Science, Northwestern Polytechnical University, Xi'an 710072, China;
3. CETC Key Laboratory of Data Link Technology, Xi'an 710072, China |
| Abstract: |
| The more and more widely used UAV swarm operations have received great attention in the new global military revolution of informatization, and the integrated modeling of UAV swarms has great significance and value for the testing and verification of combat modes. Aiming at the modeling and simulation requirements of combat scenarios, taking the collaborative combat process of heterogeneous UAV swarms as the research object, starting from the modeling of a single UAV, on the basis of the formalization and mathematical description of the single combat process, this paper employs Petri nets based on the hybridization of time and space to describe the discrete states and continuous processes of heterogeneous UAV swarm systems, and effectively solves the problems of the fusion between physics and computing processes, and modeling of interactive events in swarm systems. UPPAAL is selected to formally verify the modeling of UAV swarm strike mission, which shows that the proposed modeling method is feasible and effective. |
| Key words:
heterogeneous drone swarm
spatiotemporal hybrid Petri net
cluster modeling
formal verification
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| 收稿日期: 2021-09-18
修回日期:
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| DOI: 10.1051/jnwpu/20224040812 |
| 基金项目: 数据链技术重点实验室开放基金(CLDL-20202208_2)、飞行器控制一体化技术国防科技重点实验室基金(6142219200205)与中央高校基本科研业务费(D5000220351)资助 |
| 通讯作者: 唐政(1980-),中国电子科技集团公司数据链技术重点实验室研究员,主要从事无人系统技术及数据链技术研究。e-mail:adamtangzheng@163.com
Email：adamtangzheng@163.com |
| 作者简介: 卢楠(1995-),西北工业大学宁波研究院硕士研究生,主要从事无人系统技术及应用研究。
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| 作者相关文章 |
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| 卢楠 在本刊中的所有文章 |
| 王晓东 在本刊中的所有文章 |
| 唐政 在本刊中的所有文章 |
| 何佩 在本刊中的所有文章 |
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