基于公共品博弈的无人机集群自主协同机制

Autonomous cooperative combat of UAV cluster is an important combat mode in future wars. The study on autonomous collaboration mechanism of UAV cluster is conducive to reveal the formation and evolution pattern of its cooperation for providing the theoretical support for its application in combat. Firstly, an autonomous collaboration information interaction network for UAV cluster is constructed, and the UAV interaction levels based on topological potential are defined. An UAV cluster evolutionary game model based on the public goods game is established by analyzing the mapping relationship between autonomous cooperation of UAV cluster and evolutionary game, and the overall expected gain function, average expected gain function and improved aspiration dynamic strategy based on UAV interaction levels are proposed. Then, the evolution process of UAV cluster is quantitatively described by Markov chain, and the average abundance function which characterizes the evolutionarily stable distribution of UAV cluster is deduced theoretically. Finally, the feasibility and effectiveness of the autonomous collaboration mechanism of UAV cluster based on public goods game are verified by simulation, and the influences of the changes in the selection intensity, interaction gain factor, enhancement factor and aspiration level on the collaboration of UAV cluster are analyzed, which provides the theoretical support for autonomous cooperative parameter regulation design of UAV cluster. The results show that the proposed autonomous collaboration mechanism can promote the emergence of UAV cluster cooperation to a greater extent than the point and punishment mechanisms, and provide technical support for UAV cluster autonomous collaboration theory to be applied to combat.