Journal of Systems Engineering and Electronics ›› 2021, Vol. 32 ›› Issue (6): 1463-1476.doi: 10.23919/JSEE.2021.000124
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收稿日期:2020-11-29出版日期:2022-01-05发布日期:2022-01-05
Self-organized search-attack mission planning for UAV swarm based on wolf pack hunting behavior
Jinqiang HU1(
), Husheng WU1,*(), Renjun ZHAN1(), Rafik MENASSEL2(), Xuanwu ZHOU3()
- 1 School of Equipment Management and Support, Armed Police Force Engineering University, Xi’an 710086, China
2 Department of Mathematics and Computer Science, Tebessa University, Tebessa 12002, Algeria
3 Foundation Department, Armed Police Command College, Tianjin 300250, China
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Received:2020-11-29Online:2022-01-05Published:2022-01-05 -
Contact:Husheng WU E-mail:hujinqiang002@163.com;wuhusheng0421@163.com;zhanrenjun@aliyun.com;r.menassel@univ-tebessa.dz;schwoodchow@163.com -
About author:|HU Jinqiang was born in 1990. He received his M.S. degree in vehicle operation engineering from Chang’an University, Xi’an, China, in 2017. He is currently a Ph.D. candidate with the School of Equipment Support and Management, Armed Police Force Engineering University. His current research interests include UAV swarm cooperative mission planning, swarm intelligent labor division approach, and swarm intelligence-based optimization algorithms. E-mail:
hujinqiang002@163.com ||WU Husheng was born in 1986. He received his Ph.D. degree from Air Force Engineering University in 2014. He is now an associate professor of the School of Equipment Management and Support, Armed Police Force Engineering University, Xi’an, China. He is now engaged in the study of wolf pack algorithm, anti-terrorist cluster operations, and intelligent equipment. E-mail:
wuhusheng0421@163.com ||ZHAN Renjun was born in 1963. He is a full professor and Ph.D. supervisor at the School of Equipment Management and Support, Armed Police Force Engineering University, Xi’an, China. He received his Ph.D. degree from Xi’an Jiaotong University in 1996. He is a Senior Member of China Society of Mechanical Engineering. His current research interests are evolutionary computing, equipment support, and task allocation of UAV swarm. E-mail:
zhanrenjun@aliyun.com ||MENASSEL Rafik was born in 1983. He currently works at the Department of Mathematics and Computer Science, Tebessa University. He does research in computer graphics, artificial neural network, and artificial intelligence. E-mail:
r.menassel@univ-tebessa.dz ||ZHOU Xuanwu was born in 1980. He is now a lecturer of Armed Police Command College. His current research interests are UAV swarm ad hoc network technology. E-mail:
schwoodchow@163.com -
Supported by:This work was supported by the National Natural Science Foundation of China (61502534), the Shaanxi Provincial Natural Science Foundation (2020JQ-493), the Integrative Equipment Research Project of Armed Police Force (WJ20211A030018), the Military Science Project of the National Social Science Fund (WJ2019-SKJJ-C-092), and the Theoretical Research Foundation of Armed Police Engineering University (WJY202148)
引用本文
. [J]. Journal of Systems Engineering and Electronics, 2021, 32(6): 1463-1476.
Jinqiang HU, Husheng WU, Renjun ZHAN, Rafik MENASSEL, Xuanwu ZHOU. Self-organized search-attack mission planning for UAV swarm based on wolf pack hunting behavior[J]. Journal of Systems Engineering and Electronics, 2021, 32(6): 1463-1476.
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| Behavior characteristics | Wolf pack hunting | UAV swarm cooperative search-attack |
| Behavior actor | Wolf pack | UAV swarm |
| Prey | Target | |
| Behavior space | Hunting territory | Task environment |
| Scouting | Search target | |
| Specific behavior | Labor division | Attack task allocation |
| Besieging | Coordinated attack |
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| UAV (Ui) | Type | Initial resource | Initial position (xi, yi)/m | Initial course angleoi/(o) |
| U1 | RS-UAV | (1,2,1) | (180,20) | 45 |
| U2 | (2,1,0) | (500,20) | 90 | |
| U3 | (2,2,1) | (820,20) | 135 | |
| U4 | (1,1,3) | (1 180,20) | 45 | |
| U5 | R-UAV | (0,0,0) | (1 500,20) | 90 |
| U6 | (0,0,0) | (1 820,20) | 135 |
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| Target (Tj) | Initial resource requirement | Position (xj, yj)/m | Value |
| T1 | (3,2,1) | (780,780) | 3 |
| T2 | (2,3,1) | (1 620,980) | 5 |
| T3 | (1,0,2) | (980,1 620) | 4 |
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| Time/s | Target | Target resource requirement | UAV resource | Remaining resource |
| 18.2 | T2 | (2,3,1) | U3(2,2,1) U4(1,1,3) | (0,0,0) (1,0,3) |
| 19.4 | (0,1,0) | |||
| 19.2 | T1 | (3,2,1) | U1(1,2,1) U2(2,1,0) | (0,0,0) (0,1,0) |
| 21.4 | (2,0,0) | |||
| 28.8 | T3 | (1,0,2) | U4(1,0,3) | (0,0,1) |
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| UAV swarm | Number of UAVs | |||
| R-UAVs | 1 | 2 | 3 | 4 |
| RS-UAVs | 4 | 8 | 12 | 16 |
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