Unmanned aerial vehicle swarm cooperative search based on moth pheromone courtship mechanism

被引：0
|
作者：
Liu Y. [1 ]
Deng Y. [1 ]
Duan H. [1 ]
Wei C. [1 ]
机构：
[1] School of Automation Science and Electrical Engineering, Beihang University, Beijing
来源：
Guofang Keji Daxue Xuebao/Journal of National University of Defense Technology | 2022年 / 44卷 / 04期
关键词：
cooperative search; distributed control; moth pheromone; unmanned aerial vehicle swarm;
D O I：
10.11887/j.cn.202204003
中图分类号：
学科分类号：
摘要：
In order to improve the efficiency of the UAV (unmanned aerial vehicle) swarm in cooperative search for moving targets, a UAV swarm cooperative search method was proposed on the basis of the moth pheromone courtship mechanism. According to the courtship behavior of moth in choosing flight direction by pheromone, a wind direction model in pheromone map and a moth pheromone courtship model were established. Considering the constraint of collision avoidance between UAV swarm, a map from moth pheromone courtship mechanism to UAV swarm distributed cooperative search was proposed, and the specific implementation process was given. Simulation results show the effectiveness and stability of the proposed method in solving the cooperative search problem of single moving target, and the outdoor flight experimental results verified the feasibility of the proposed method in practice. © 2022 National University of Defense Technology. All rights reserved.
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页码：22 / 31
页数：9
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