UAV Swarm Control Based on Hybrid Bionic Swarm Intelligence

Ruitao Fan, Jintao Wang, Weixin Han, Bin Xu

科研成果: 期刊稿件文章同行评审

6 引用 (Scopus)

摘要

Inspired by the pigeon behavior pattern, this paper proposes an Unmanned Aerial Vehicle (UAV) swarm control scheme based on hybrid bionic swarm intelligence, which can realize multi-UAV obstacle avoidance during formation control. First, the leadership mechanism of pigeon °ock is mapped to UAV swarm, and the virtual leaders are introduced to solve the un¯xed relative position of level-1 leader problem. Second, the control law for UAV swarm formation is designed based on arti¯cial potential ¯eld theory and analysis of the bionic mechanism. To avoid local minima, a guidance phase is added to the UAV formation process. By analyzing the °ocking algorithm, a cooperative interaction control model of UAV swarm is established. Third, the cooperative interactive control law for UAV swarm obstacle avoidance is proposed based on improved arti¯cial potential ¯eld function. Then the two bionic swarm control models are combined to realize the formation and obstacle avoidance of UAV swarm based on mixed bionic swarm intelligence. Finally, a series of simulations are conducted to demonstrate the proposed hybrid UAV swarm control algorithm.

源语言英语
文章编号2350008
期刊Guidance, Navigation and Control
3
2
DOI
出版状态已出版 - 1 6月 2023

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