Coordination control method for multi-unmanned aerial vehicle team based on predation escape pigeon optimization

An unmanned aerial vehicle, coordinated control technology, applied in the field of intelligent cybernetics

Inactive Publication Date: 2015-08-19
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

Eagles hunt the leader pigeon in the flock, thus posing a different predation risk to the other pigeons in the flock

Method used

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  • Coordination control method for multi-unmanned aerial vehicle team based on predation escape pigeon optimization
  • Coordination control method for multi-unmanned aerial vehicle team based on predation escape pigeon optimization
  • Coordination control method for multi-unmanned aerial vehicle team based on predation escape pigeon optimization

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Embodiment Construction

[0069] See figure 1 — Figure 4 , the present invention is based on a multi-unmanned aerial vehicle formation coordination control method based on the optimization of predation and escape pigeon groups. The specific steps of the method are as follows:

[0070] Step 1: Establish the corresponding fitness value calculation function f() according to the given constraints, and set the corresponding parameters. The parameter settings include: the size of the population n 1 =30 Optimization dimension d=6, map compass factor R=0.1, maximum iteration times T of the two operators 1 =100,T 2 =20, the predation control parameter r=0.001. In this manual, the UAV formation coordination is taken as an example, and the initial parameters in this example are shown in Table 1.

[0071] Step 2: Randomly initialize the initial position and speed of each hawk and dove, and calculate the fitness value of each hawk and dove according to the mathematical model of the actual problem established...

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Abstract

The invention provides a coordination control method for a multi-unmanned aerial vehicle team based on predation escape pigeon optimization. The method comprises seven steps: firstly, initializing algorithm parameters and predation escape parameters; secondly, initializing initial positions and speeds of the pigeons and calculating respective fitness values; thirdly, introducing a map compass operator and updating the speeds and the positions of the pigeons according to a formula; fourthly, introducing a predation escape process and updating the positions of the pigeons according to the formula; fifthly, stopping the map compass operator and the predation escape process and executing the next step if the iteration frequency is greater than the maximum iteration frequency T1 of the map compass operator; repeating the previous step if not; sixthly, introducing a landmark operator and ranking all the pigeons according to the fitness values of residual pigeons (wherein half of the pigeons with low fitness value follow the other half of the pigeons with high fitness value), and updating the positions according to the formula; seventhly, stopping the landmark operator and outputting the final result if the current iteration frequency is greater than the maximum iteration frequency T2 of the landmark operator; and repeating the previous step if not.

Description

technical field [0001] The invention proposes a multi-unmanned aerial vehicle formation coordination control method based on the optimization of predation and escape pigeon groups, which belongs to the field of intelligent cybernetics. Background technique [0002] With the increasing maturity of unmanned aerial vehicle technology, unmanned aerial vehicles have been applied to many fields including aerospace, meteorology, surveying and mapping, etc. But a single unmanned aerial vehicle is not enough to meet the growing needs of people, so the concept of multi-unmanned aerial vehicle formation was proposed. Compared with a single aircraft, a multi-UAV formation has considerable advantages. For example, anti-interference ability, emergency response ability, large task execution ability and so on. Therefore, multi-UAV formations are currently receiving close attention from scholars and institutions at home and abroad, and how to coordinate and control multi-UAV formations is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 张书健段海滨
Owner BEIHANG UNIV
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