基于社会化协同的无人机集群目标合围控制OA

A socialized collaboration-based control strategy is proposed for mobile-target enclosing under percep-tion and communication constraints in the presence of environmental obstacles.First,inspired by socialized behavi-ors in biological swarms,a cooperative response model and a hierarchical interaction mechanism are established;un-der topology switching and packet-loss conditions,the constrained information flow is explicitly modeled to drive the swarm to achieve target enclosing.Second,a strongly guided task——Collision-avoidance parallel cooperative control scheme is proposed to realize robust enclosing control while prioritizing flight safety.Third,a consensus-based target-state observer is designed to robustly estimate the target position and velocity.Finally,simulation res-ults demonstrate that the proposed method can achieve stable encirclement in obstacle-laden environments under perception and communication constraints,exhibiting favorable robustness.