Particle swarm algorithm-based heterogeneous unmanned aerial vehicle three-dimensional space deployment method and device

Abstract

The invention provides a particle swarm algorithm-based heterogeneous unmanned aerial vehicle three-dimensional space deployment method and device, and the method comprises the steps: randomly initializing particles in a target region through a multi-target particle swarm algorithm, and enabling each particle to have four-dimensional parameters, including the three-dimensional space position of each unmanned aerial vehicle in a heterogeneous unmanned aerial vehicle group and the use condition of the unmanned aerial vehicle; calculating the change speed of the three-dimensional position of the unmanned aerial vehicle by using a multi-target particle swarm algorithm and updating the three-dimensional position of the unmanned aerial vehicle; based on the combination of discrete binary particle swarm optimization, calculating the variable quantity of the use condition of each unmanned aerial vehicle of each particle, and updating the use condition of each unmanned aerial vehicle; and on the basis, adding price difference and mutation operation in a genetic algorithm to prevent particle swarm optimization from falling into a local optimal solution too early. Through the combination of the multi-target particle swarm algorithm, the discrete binary particle swarm algorithm and the genetic algorithm, the problem that the deployment of the heterogeneous unmanned aerial vehicle needs to meet the network service is solved.

Description

technical field [0001] The invention relates to a space deployment method for unmanned aerial vehicles, in particular, to a three-dimensional space deployment method and equipment for heterogeneous unmanned aerial vehicles based on particle swarm algorithm. Background technique [0002] When there is no ground fixed infrastructure (base station) or the ground base station is damaged and cannot work normally, such as floods, earthquakes, wars, etc., the unmanned aerial vehicle is equipped with a small base station as an air communication platform (air base station) to quickly go to the predetermined area Provide on-demand, economical, and reliable wireless communications. In the existing deployment schemes, the problem is often transformed into a planar disk coverage problem, such as k-mean deployment, spiral deployment, core deployment, etc. These solutions often do not consider adjusting the height during deployment, and can only be used in specific scenarios and cannot be...

AI Technical Summary

Problems solved by technology

However, it is impossible to obtain the deployment scheme of the least number of UAVs in a group of heterogeneous UAVs only by using a single particle swarm optimization algorithm, and it is impossible to judge whether there is a network link between UAVs.

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