UAV formation reconstruction system and method based on ant colony algorithm and artificial potential field method

Abstract

UAV formation reconstruction system and method based on ant colony algorithm and artificial potential field method. The system includes target allocation module, path planning module, and ground station module; the swarm intelligence optimization algorithm is used to improve the selection strategy of the standard ant colony algorithm. The global search ability and search accuracy of the algorithm are improved. When the UAV group size is large, there is a greater probability to search for the global optimal solution. The improved artificial potential field method is used in the path planning process, in which the improvement of the gravitational field formula solves the problem that the gravitational field is too large in the early stage of the UAV's movement, which may cause collisions, and the improvement of the repulsive field solves the problem of moving the UAV when it is close to the target. In the process of pointing, the target cannot be reached. If the UAV is trapped in a local minimum point, by applying an additional escape force to the current UAV to help it get rid of the local minimum point, the local minimum point escape strategy is used to effectively solve the problem that the artificial potential field method is easy to fall into a local optimum. . The present invention has faster 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 process.

The difficulty of UAV formation reconstruction is that when the UAV group size is large, the calculation overhead of target assignment is high, the accuracy is low, and the UAVs are prone to collisions during movement.

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