无人机蜂群中的群体智能涌现机理

doi:10.12382/bgxb.2022.1181

摘要/Abstract

摘要：

针对无人机蜂群中自主协同行为涌现机理难以解释的问题,提出一种多Agent系统中的自主协同行为涌现的分析方法,对系统的微观个体层、中观结构层和宏观网络层三个层面展开分析,自底向上地量化分析系统动态演化过程,揭示系统从微观到宏观的内在逻辑以及系统演变中的一些问题。通过计算实验方法构建无人机蜂群的计算实验模型,根据蜂群作战的关键特征设计无人机蜂群社团信息网络,引入公共物品博弈机制构建蜂群合作演化模型,并给出社团网络上蜂群的演化动力学过程。通过数值模拟,从无人机蜂群系统的不同层面量化分析蜂群协同行为的涌现现象,从而认识蜂群自主协同行为的涌现机理,并为无人机蜂群协同机制的优化提供决策支持。

关键词: 无人机蜂群, 群体智能, 涌现机理, 演化博弈, 复杂网络

Abstract:

Understanding the emergence of autonomous cooperative behavior in UAV swarms is a challenging problem. In this study, an analysis method for studying the autonomous cooperative behavior emergence in multi-agent systems is proposed. The method analyzes three levels of the system: the micro-individual layer, the meso-structure layer, and the macro-network layer. It also quantifies the dynamic evolution process of the system from the bottom up, revealing the internal logic of the system from micro to macro and identifying problems in system evolution. The computational experimental model of UAV swarms is also introduced, and the information network of UAV swarm association is designed according to the key features of swarm operations. The game mechanism for public goods is introduced, and the cooperative evolution model of swarms is constructed. The evolution dynamics of swarms on the association network is revealed. Through numerical simulation, the emergence of swarm cooperative behaviors is quantitatively analyzed from different levels of the UAV swarm system, so as to understand the emergence mechanisms of autonomous and cooperative swarm behaviors and provide decision support for the optimization of UAV swarm cooperative mechanisms.

Key words: UAV swarm, swarm intelligence, emergence mechanism, evolutionary game, complex network

中图分类号:

宫远强, 张业鹏, 马万鹏, 薛霄. 无人机蜂群中的群体智能涌现机理[J]. 兵工学报, 2023, 44(9): 2661-2671.

GONG Yuanqiang, ZHANG Yepeng, MA Wanpeng, XUE Xiao. Mechanisms of Group Intelligence Emergence in UAV Swarms[J]. Acta Armamentarii, 2023, 44(9): 2661-2671.

图/表 12

图1 复杂系统涌现现象分析框架

Fig.1 Analysis framework of emergence in complex systems

图2 Agent在微观层面的行为过程

Fig.2 Agent's behavior process at micro level

图3 多Agent系统的组织结构

Fig.3 Organizational structure of multi-agent systems

图4 宏观层面群体行为的涌现过程

Fig.4 Emergence process of swarm behaviors at macro level

表1 无人机蜂群协同与公共物品博弈之间的概念映射

Table 1 Conceptual mapping between UAV swarm collaboration and public goods game

公共物品演化博弈	无人机蜂群自主协同机制
空间结构种群	无人机蜂群
公共物品	作战资源(弹药、通信等)
个体	无人机个体
合作策略(Collaboration, C)	无人机选择向蜂群贡献资源
非合作策略(Defection, D)	无人机拒绝向蜂群贡献资源
收益	无人机的作战效益
演化	多轮博弈中,无人机策略动态变化, 蜂群策略分布也在动态变化
博弈	无人机之间进行通信并根据收益进行策略选择

表2 无人机Agent的属性特征

Table 2 Attributes of a UAV agent

属性	属性描述	现实映射
T	Agent的类型	无人机蜂群由多个子群组成
R	Agent具有的资源	无人机携带的作战资源
k	Agent的节点度	无人机通过链路进行通信
r	协作因子	无人机合作会产生规模效益
s	Agent的策略	无人机可以选择合作/非合作策略
c	选择合作策略的代价	无人机需要贡献自身资源
f	收益	无人机获得任务反馈情况
ω	选择强度	无人机更新策略的活跃度
α	期望水平	无人机对于自身收益的预设期望

图5 无人机蜂群通信网络示意图

Fig.5 UAV swarm communication network

图6 无人机蜂群协同作战的通信网络拓扑

Fig.6 Communication network topology for cooperative UAV swarm operations

表3 实验参数设置

Table 3 Experimental parameter setting

无人机属性	属性设置
蜂群规模	无人机蜂群的初始数量N=100
无人机种类	不同功能的无人机种群数量M=5,新生成的无人机随机加入一个无人机子群
无人机初始策略	随机选择合作策略C或非合作策略D
作战成本	无人机在每次博弈中选择合作策略的行为成本c=1
选择强度	为了不失一般性,本文设定选择强度ω=1
节点平均度	节点内连接m=2,外连接n=1,平均度 $k ¯$ ≈4
协作因子	r=10
无人机蜂群规模	无人机蜂群的初始数量N=100

表3 实验参数设置

Table 3 Experimental parameter setting

无人机属性	属性设置
蜂群规模	无人机蜂群的初始数量N=100
无人机种类	不同功能的无人机种群数量M=5,新生成的无人机随机加入一个无人机子群
无人机初始策略	随机选择合作策略C或非合作策略D
作战成本	无人机在每次博弈中选择合作策略的行为成本c=1
选择强度	为了不失一般性,本文设定选择强度ω=1
节点平均度	节点内连接m=2,外连接n=1,平均度 $k ¯$ ≈4
协作因子	r=10
无人机蜂群规模	无人机蜂群的初始数量N=100

图7 蜂群合作水平与作战成本之间的关系曲线

Fig.7 Relationship curve between the level of swarm cooperation and the operational cost

图8 内部连接和外部连接的相对关系对合作水平的影响

Fig.8 The impact of the relative relationship between the value of internal connections and the value of external connections on the level of cooperation

图9 蜂群合作水平与网络平均度之间的关系曲线

Fig.9 Relationship curve between the level of colony cooperation and the average degree of network

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