Multi-Objective Trapping of UAVs Swarm Based on Gene Regulatory Networks

Encirclement mode formation in swarm robotic systems is a long-term hot research topic. Most of the encirclement control models designed by traditional methods are based on global information. This paper proposes a distributed unmanned swarm control method. The approach is based on gene regulatory network models and does not rely on any direct communication. The gene regulatory network model will generate a concentration field based on the input target and obstacle information, which will be used by the unmanned swarm to autonomously assign targets and guide the unmanned swarm to move towards the target. In this method, the UAV only needs to obtain the local information within the sensing range through the sensors carried by itself, and can complete the assignment and encirclement tasks of multiple targets by itself, getting rid of the unmanned swarm's dependence on global information. Finally, the validity and reliability of the proposed model are verified by simulating in an obstacle environment.