Dynamic multi-UAVs formation reconfiguration based on hybrid diversity-PSO and time optimal control

Author

Bai, Chen ; Duan, Haibin ; Li, Chun ; Zhang, Yunpeng

Author_Institution

Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China

fYear

2009

fDate

3-5 June 2009

Firstpage

775

Lastpage

779

Abstract

This paper proposed a novel hybrid diversity particle swarm optimization (PSO) and time optimal control approach to multiple unmanned aerial vehicles (multi-UAVs) formation reconfiguration in dynamic and complicated environments. Based on the modeling of the dynamic environments, a novel diversity PSO model is proposed. In order to track the dynamic changes, the fitness function changes along with iteration. The procedure for solving the multi-UAVs formation reconfiguration problem is also given in detail. Series simulation results verified the feasibility and effectiveness of the proposed method for solving the multi-UAVs formation reconfiguration problems in complicated and dynamic environments.

Keywords

iterative methods; optimal control; particle swarm optimisation; remotely operated vehicles; dynamic multiple unmanned aerial vehicles; hybrid diversity particle swarm optimization; iteration; multi-UAV formation reconfiguration; time optimal control approach; Aerodynamics; Automation; Convergence; Geometry; Mathematical model; Mathematics; Optimal control; Particle swarm optimization; Unmanned aerial vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2009 IEEE

Conference_Location

Xi´an

ISSN

1931-0587

Print_ISBN

978-1-4244-3503-6

Electronic_ISBN

1931-0587

Type

conf

DOI

10.1109/IVS.2009.5164376

Filename

5164376