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

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 ...

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