| Citation: | WU Ao, YANG Rennong, LIANG Xiaolong, et al. Cooperative search algorithm based on pheromone decision for UAV swarm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(4): 814-827. doi: 10.13700/j.bh.1001-5965.2020.0026(in Chinese)
|
To solve the problem of Unmanned Aerial Vehicle (UAV) swarm search in unknown environment without prior information, this paper proposes a UAV swarm cooperative search algorithm with pheromone as decision mechanism. Firstly, considering the communication constraints of UAV, two search models which are star communication network with external nodes and self-organizing communication network without external nodes are established. Secondly, the task environment model is established by mapping environment map to pheromone map. In this paper, the task process is divided into three stages. In the search stage, the UAV can update the local pheromone map by moving constantly. In the communication stage, the fusion of UAV swarm pheromone maps is realized through the communication network. In the decision-making stage, the decision is made based on the local information and the global information, and the grid pheromone concentration is taken as the decision function to guide the position update of the UAV. Based on pheromone map coverage rate, the search results are quantitatively described. Finally, the simulation results show that the method proposed in this paper can search and cover the region, which is characterized by high search efficiency, strong destruction resistance and little influence by the initial location of the swarm.
| [1] |
梁晓龙, 何吕龙, 张佳强, 等. 航空集群构型控制及其演化方法[J]. 中国科学: 技术科学, 2019, 49(3): 277-287.
LIANG X L, HE L L, ZHANG J Q, et al. Configuration control and evolutionary mechanism of aircraft swarm[J]. Scientia Sinica Technologica, 2019, 49(3): 277-287(in Chinese).
|
| [2] |
梁晓龙, 孙强, 尹忠海, 等. 大规模无人系统集群智能控制方法综述[J]. 计算机应用研究, 2015, 32(1): 17-22. doi: 10.3969/j.issn.1001-3695.2015.01.004
LIANG X L, SUN Q, YIN Z H, et al. Review on large-scale unmanned system swarm intelligence control method[J]. Application Research of Computers, 2015, 32(1): 17-22(in Chinese). doi: 10.3969/j.issn.1001-3695.2015.01.004
|
| [3] |
HU J, XIE L, XU J, et al. Multi-agent cooperative target search[J]. Sensors, 2014, 14(6): 9408-9428. doi: 10.3390/s140609408
|
| [4] |
HU J, XIE L, XU J, et al.Vision-based multi-agent cooperative target search[C]//International Conference on Control Automation Robotics & Vision.Piscataway: IEEE Press, 2014: 895-900.
|
| [5] |
刘重, 高晓光, 符小卫. 带信息素回访机制的多无人机分布式协同目标搜索[J]. 系统工程与电子技术, 2017, 39(9): 1998-2011.
LIU C, GAO X G, FU X W.Multi-UAVs distributed cooperative target search algorithm with controllable revisit mechanism based on digital pheromone[J]. Systems Engineering and Electronics, 2017, 39(9): 1998-2011(in Chinese).
|
| [6] |
彭辉, 沈林成, 朱华勇. 基于分布式模型预测控制的多UAV协同区域搜索[J]. 航空学报, 2010, 31(3): 593-601.
PENG H, SHEN L C, ZHU H Y.Multiple UAV cooperative area search based on distributed model predictive control[J]. Acta Aeronautica et Astronautica Sinica, 2010, 31(3): 593-601(in Chinese).
|
| [7] |
侯岳奇, 梁晓龙, 何吕龙, 等. 未知环境下无人机集群协同区域搜索算法[J]. 北京亚洲成人在线一二三四五六区学报, 2019, 45(2): 347-356. doi: 10.13700/j.bh.1001-5965.2018.0230
HOU Y Q, LIANG X L, HE L L, et al. Cooperative area search algorithm for UAV swarm in unknown environment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(2): 347-356(in Chinese). doi: 10.13700/j.bh.1001-5965.2018.0230
|
| [8] |
吴青坡, 周绍磊, 刘伟, 等. 基于集散式模型预测控制的多无人机协同分区搜索[J]. 控制理论与应用, 2015, 32(10): 1414-1421. doi: 10.7641/CTA.2015.50482
WU Q P, ZHOU S L, LIU W, et al. Multi-unmanned aerial vehicles cooperative search based on central-distributed model predictive control[J]. Control Theory & Applications, 2015, 32(10): 1414-1421(in Chinese). doi: 10.7641/CTA.2015.50482
|
| [9] |
吴文超, 黄长强, 宋磊, 等. 不确定环境下的多无人机协同搜索航路规划[J]. 兵工学报, 2011, 32(11): 1337-1342.
WU W C, HUANG C Q, SONG L, et al. Cooperative search and path planning of multi-unmanned air vehicles in uncertain environment[J]. Acta Armamentarii, 2011, 32(11): 1337-1342(in Chinese).
|
| [10] |
符小卫, 李建, 高晓光. 带通信约束的多无人机协同搜索中的目标分配[J]. 航空学报, 2014, 35(5): 1347-1356.
FU X W, LI J, GAO X G.Target allocation in multi-UAV cooperative search with communication constraints[J]. Acta Aeronautica et Astronautica Sinica, 2014, 35(5): 1347-1356(in Chinese).
|
| [11] |
BERTUCCELLI L F, HOW J P.Robust UAV search for environments with imprecise probability maps[C]//Proceedings of the European Control Conference CDC-ECC on Decision & Control.Piscataway: IEEE Press, 2005: 5680-5685.
|
| [12] |
沈东, 魏瑞轩, 茹常剑. 基于数字信息素的无人机集群搜索控制方法[J]. 系统工程与电子技术, 2013, 35(3): 591-596. doi: 10.3969/j.issn.1001-506X.2013.03.24
SHEN D, WEI R X, RU C J.Digital-pheromone-based control method for UAV swarm search[J]. Systems Engineering and Electronics, 2013, 35(3): 591-596(in Chinese). doi: 10.3969/j.issn.1001-506X.2013.03.24
|
| [13] |
朱创创, 梁晓龙, 张佳强, 等. 无人机集群编队控制演示验证系统[J]. 北京亚洲成人在线一二三四五六区学报, 2018, 44(8): 1739-1747. doi: 10.13700/j.bh.1001-5965.2017.0600
ZHU C C, LIANG X L, ZHANG J Q.Demonstration and verification system for UAV swarm formation control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1739-1747(in Chinese). doi: 10.13700/j.bh.1001-5965.2017.0600
|
| [14] |
WAN S G, MA X T, LI K.Application research of star wireless sensor network[J]. Communications Technology, 2009, 42(3): 173-176.
|
| [15] |
刘昕. 军用无人机自组网技术研究[D]. 南京: 南京理工大学, 2014: 15-20.
LIU X.Study of MANET for military UAVs[D].Nanjing: Nanjing University of Science and Technology, 2014: 15-20(in Chinese).
|
| [16] |
PARUNAK H V, PURCELL M, O'CONNELL R.Digital pheromones for autonomous coordination of swarming UAV's[C]//Proceedings of the 1st UAV Conference.Reston: AIAA, 2002: 20-23.
|
| [17] |
SAUTER J A, MATTHEWS R S, PARUNAK H V D, et al.Performance of digital pheromones for swarming vehicle control[C]//4th International Joint Conference on Autonomous Agents and Multiagent Systems.Utrecht: DBLP, 2005: 25-29.
|
| [18] |
PARUNAK H V D, BRUECKNER S A, SAUTER J A.Digital pheromones for coordination of unmanned vehicles[C]//First International Joint Conference on Autonomous Agents & Multiagent Systems.Utrecht: DBLP, 2004: 246-263.
|
| [19] |
BREEN M F, LESHNER A I.Maternal pheromone: A demonstration of its existence in the mouse (Mus musculus)[J]. Physiology and Behavior, 1977, 18(3): 527-529. doi: 10.1016/0031-9384(77)90269-4
|
Figures(24) / Tables(3)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@cqjj8.com
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
