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无人机之间通过相互协作形成无人机网络以完成相应任务,现有研究较少考虑无人机的移动性所造成的无人机网络的拓扑结构变化而引起的通信方面的问题。本文将无人机网络在通信范围内的通信延迟最低作为目标,基于贝叶斯联盟博弈解决无人机的移动性所造成的的网络结构动态性,以及协作无人机的选择策略问题。在贝叶斯联盟博弈模型中,针对无人机的移动性,将无人机分为两种类型:协作行为的无人机和不协作行为的无人机。基于信念更新机制来帮助无人机观测其他无人机的行为并找到可能的联盟结构。仿真结果表明,由贝叶斯联盟博弈算法得到的通信延迟最小的无人机联盟结构是纳什稳定的。
UAVs cooperate with each other to form the UAV network to accomplish the corresponding tasks. The existing researches pay little attention to the communication problems caused by the UAV network topology changes caused by the UAV mobility. In this paper, the minimum communication delay of UAV network in the communication range is taken as the goal. Based on Bayesian alliance game, the dynamics of network structure caused by UAV mobility and the selection strategy of cooperative UAS are also discussed. In the Bayesian alliance game model, UAVs are divided into two types according to the mobility of UAVs: cooperative UAVs and uncooperative UAVs. Based on belief renewal mechanisms to help UAVs observe the behavior of other UAVs and find possible alliances. The simulation results show that the UAV with the least communication delay obtained by the Bayesian alliance game algorithm is Nash stable.