Multiple no-manned plane three-dimensional formation reconfiguration method based on particle swarm optimization and genetic algorithm

Abstract

The invention discloses a three-dimensional formation reconfiguration method for multiple unmanned aerial vehicles based on particle swarm optimization and genetic algorithm. The method considers the position of the unmanned aerial vehicle in the ground coordinates and the speed, track angle and course angle of the unmanned aerial vehicle when establishing a formation model, carries out subsection linear disposal of the control input of each flying unit in the unmanned aerial vehicle, replaces the approximate subsection linear control input with the continuous control input, then carries out global search by the genetic algorithm, subsequently carries out partial searching by the particle swarm optimization algorithm, on the base thereof, the particle swarm optimization is used to guide the genetic algorithm to search a global optimum solution so as to figure out the subsection linear control input. Compared with the traditional method, the method provided by the invention has good real-time performance and rapidity and can be used for solving the formation reconfiguration problem of multiple space robots under complex and dynamic environment.

Description

Multi-UAV 3D Formation Reconstruction Method Based on Particle Swarm Optimization and Genetic Algorithm (1) Technical field The invention relates to a multi-UAV three-dimensional formation reconstruction technology based on Particle Swarm Optimization (hereinafter referred to as PSO) genetic algorithm (Genetic Algorithm, hereinafter referred to as GA), which belongs to the field of aviation science and technology. (2) Background technology UAVs first appeared in 1913. During World War II, a military UAV that was remotely controlled by radio commands appeared. It is the originator of UAVs. At the end of the war, the Germans successfully developed the V-1 and V-2 drones with warheads, which were also the earliest cruise missiles. Since then, the drones have been used in actual combat. In the 1940s and 1950s, drones were used as target drones. After the 1960s, unmanned aerial vehicles used in battlefield reconnaissance appeared, and unmanned aerial vehicles have shown very o...

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Problems solved by technology

The purpose of the present invention is to provide a multi-UAV three-dimensional formation reconstruction method based on particle swarm optimization and genetic algorithm to solve the problems of minimum energy control, shortest time and minimum energy comprehensive control of three-dimensional formation reconstruction in the prior art. , and the optimization problem of centralized control of complex systems such as multi-formation reconfiguration and multi-machine coordination

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