Unmanned aerial vehicle cluster behavior mapping method based on communication and perception information fusion

The invention discloses an unmanned aerial vehicle cluster behavior mapping method based on communication and perception information fusion, which is applied to the field of unmanned aerial vehicle cluster autonomous decision control, and comprises the following steps: establishing a communication and perception model of an unmanned aerial vehicle, carrying out fusion to obtain friend unmanned aerial vehicle information, obstacle information and ground target information, and on the basis, carrying out communication and perception information fusion on the unmanned aerial vehicle; designing a basic behavior rule of the unmanned aerial vehicle; setting an information weight and a rule weight of each cluster behavior; and performing representation processing on the drone information, the obstacle information and the ground target information to obtain representation information, combining the information weight of each cluster behavior to obtain an optimal cluster behavior, and based on the rule weight of the o