Unmanned aerial vehicle formation reconstruction system and method based on ant colony algorithm and artificial potential field method

Abstract

The invention discloses an unmanned aerial vehicle formation reconstruction system and method based on an ant colony algorithm and an artificial potential field method. The system comprises a target distribution module, a path planning module and a ground station module. A swarm intelligence optimization algorithm is adopted to improve a selection strategy of a standard ant colony algorithm, and the global search capability and search precision of the algorithm are improved; and when the scale of an unmanned aerial vehicle group is large, a global optimal solution can be searched with higher probability. An improved artificial potential field method is adopted in the path planning process, a problem that collision is possibly caused because a gravitational field is too large in the initialmoving stage of the unmanned aerial vehicle is solved through improvement of a gravitational field formula, and a problem that a target cannot be reached in the process that the unmanned aerial vehicle gets close to the target point is solved through improvement of a repulsion field. If the unmanned aerial vehicle sinks into the local minimum point, an escape force is additionally applied to thecurrent unmanned aerial vehicle to help the current unmanned aerial vehicle get rid of the local minimum point, and a problem that the artificial potential field method sinks into local optimum easilyis effectively solved by adopting a local minimum point escape strategy. The system and method are high in calculation speed.

Description

technical field [0001] The invention belongs to the field of optimal path finding in the formation reconfiguration process of multiple UAVs, and specifically relates to a UAV formation reconfiguration system and method based on an ant colony algorithm and an artificial potential field method. Background technique [0002] Due to its small size, high flexibility, multi-functionality, strong operability, and many advantages such as no casualties, UAVs have been widely used in traffic control, aerial photography, wireless communication, weather forecasting, disaster early warning and rescue, military reconnaissance and other fields. Rapid popularity and wide application. Because a single UAV has certain limitations in performing specified tasks, for example, during a reconnaissance mission, if the UAV fails, the mission must be interrupted and returned for maintenance, which may miss the optimal completion time of the mission. When carrying out pesticide irrigation or military...

AI Technical Summary

Problems solved by technology

[0003] To sum up, it is difficult to confirm the optimal position for UAV formation reconstruction, the calculation cost is high and the UAV has a certain volume, and there is a risk of collision during the movement proce

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