UAV Cluster Behavior Modeling Based on Spatial-Temporal Hybrid Petri Net

Abstract

Currently, we are facing an increasing trend in the use of unmanned aerial vehicles (UAV) in various activities, both civilian and military. The application of UAVs in the battlefield has received extensive attention amid a global new military revolution. A UAV cluster is a large and complex real-time feedback system that integrates a communication and sensor network, control system, calculation, and physical process. The heterogeneous UAVs conduct complex behaviors, which requires a comprehensive description and analysis of UAV cluster modeling. The integrated modeling of the heterogeneous UAV cluster is of great significance and value to test and verify the new combat mode. In this paper, we present a novel representation framework based on the Petri nets. We used a spatial-temporal hybrid Petri net to illustrate the discrete state and continuous process of a heterogeneous UAV cluster system, and effectively achieved the fusion of a physical and computational process and interaction event modeling in the cluster system. Finally, the formal verification of UAV cluster attack mission modeling was carried out by UPPAAL, suggesting the proposed modeling method is feasible and effective.