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

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