Modeling method of unmanned aerial vehicle swarm behavior based on spatiotemporal hybrid Petri net

基于时空混成Petri网的无人机集群行为建模方法

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

Received: 18 September 2021

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.

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。