Title :
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
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;
Conference_Titel :
Intelligent Vehicles Symposium, 2009 IEEE
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-3503-6
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2009.5164376
