Title :
Cooperative area reconnaissance for multi-UAV in dynamic environment
Author :
Jie Chen ; Wenzhong Zha ; Zhihong Peng ; Jian Zhang
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
The increasingly complex battlefield environment has put forward higher requirement on Unmanned Aerial Vehicle (UAV) system, where the cooperative area reconnaissance (CAR) is the primary task for multi-UAV. However, the current research results hardly balance the optimality and real-time property. Especially, how to avoid and process emergent threats is rarely considered for UAV formation. So this paper researched on the problems of CAR for multi-UAV in dynamic environment to obtain optimum efficiency on the premise of ensuring real-time. Firstly, the mathematical model and optimization framework were established. Then the idea of Model Predictive Control (MPC) was introduced to process this model and an improved Particle Swarm Optimization (PSO) algorithm based on Simulated Annealing (SA) was proposed to solve the optimization problem. Furthermore, the termination condition of searching was defined and processing strategies in multiple emergent conditions were represented specially. Finally, analysis and comparison of the results from established simulation platform verified that the methods proposed in this paper could control the UAVs avoiding the static and mobile threats effectively, accomplishing task perfectly with more than 90% reconnaissance coverage rate and the run-time of each prediction step was only 1.3892s.
Keywords :
autonomous aerial vehicles; cooperative systems; multi-robot systems; particle swarm optimisation; predictive control; robot dynamics; simulated annealing; CAR; MPC; PSO algorithm; cooperative area reconnaissance; coverage rate; dynamic environment; model predictive control; multiUAV; multiple emergent condition; particle swarm optimization; simulated annealing; unmanned aerial vehicle; Algorithm design and analysis; Mobile communication; Optimization; Real-time systems; Reconnaissance; Time-domain analysis; Vehicle dynamics; Cooperative Area Reconnaissance; Dynamic Environment; MPC-SAPSO; Multi-UAV; Real-time;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606210