Unmanned aerial vehicle cluster cooperative reconnaissance method based on crossover and variation pigeon flock optimization

A UAV and swarm optimization technology, applied in the direction of non-electric variable control, instrument, attitude control, etc., can solve the problems of low search efficiency and low target search and capture ability

Active Publication Date: 2019-01-22
BEIHANG UNIV
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Problems solved by technology

The second key issue is how to describe the reconnaissance environment and how to use the detected information to update the reconnaissance environment
[0006] Although the above reconnaissance m...

Method used

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  • Unmanned aerial vehicle cluster cooperative reconnaissance method based on crossover and variation pigeon flock optimization
  • Unmanned aerial vehicle cluster cooperative reconnaissance method based on crossover and variation pigeon flock optimization
  • Unmanned aerial vehicle cluster cooperative reconnaissance method based on crossover and variation pigeon flock optimization

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Embodiment Construction

[0135] The effectiveness of the method proposed by the present invention is verified below through a specific instance of unmanned aerial vehicle cluster reconnaissance.

[0136] The invention uses four unmanned reconnaissance planes to conduct reconnaissance on four discrete targets in a three-dimensional area to realize three-dimensional simulation. Assume that the drone is at the same height and the target of the drone's reconnaissance has no ability to attack.

[0137] like figure 1 , figure 2 As shown, a UAV swarm cooperative reconnaissance method based on cross mutation pigeon group optimization, the specific steps of the method are as follows:

[0138] Step 1: Initialization of Scouting Environment

[0139] Use 4 drones to survey an unknown area 4 stationary targets to perform reconnaissance missions, and place the mission area Divided into a discrete grid of 80×80. For each grid v∈{1,2,3,...,80×80}, assign a certain value Z v (l), where Z v (l) is an informa...

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Abstract

The invention discloses an unmanned aerial vehicle cluster cooperative reconnaissance method based on crossover and variation pigeon flock optimization, which comprises the implementation steps of: S1: initialization of a reconnaissance environment; S2: initialization of a multi-dimensional vector diagram and strategy updating; S3: method design based on crossover and variation pigeon flock optimization; S4: receding horizon control based on crossover and variation pigeon flock optimization; and S5: construction of a target function of crossover and variation pigeon flock optimization. Simulation of unmanned aerial vehicle cluster cooperative reconnaissance is carried out in a three-dimensional space. The main advantages of the method are mainly shown in two aspects that: in one aspect, the method is short in used time, can be used for dynamic planning, and compared to common methods, such as a Vorono graph, a game theory and the like, is high in convergence rate; and in the other aspect, reconnaissance efficiency is high, and in a case that a coverage region is not large, a target point can still be effectively reconnoitered.

Description

technical field [0001] The invention is a research method for unmanned aerial vehicle reconnaissance based on biological intelligence optimization, in particular to an unmanned aerial vehicle group cooperative reconnaissance method based on cross-variation pigeon group optimization, which belongs to the field of autonomous control of unmanned aerial vehicles. Background technique [0002] UAV swarm wide-area target reconnaissance has received more and more attention in many fields, such as reconnaissance and surveillance of targets in enemy areas, search and rescue in mountainous areas, and resource exploration of mineral deposits. Due to the low cost, zero casualties, high maneuverability and good stealth performance of unmanned aerial vehicle (UAV), it is widely used. Due to the limitations of a single UAV in information collection, it is a necessary trend for UAV clusters to perform complex reconnaissance missions collaboratively. [0003] In order to enable the UAV swar...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 段海滨张锡联邓亦敏陈琳赵建霞申燕凯张岱峰孙永斌霍梦真杨庆鲜宁魏晨周锐
Owner BEIHANG UNIV
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