基于捕食逃逸鸽群优化的无人机紧密编队协同控制

Unmanned aerial vehicle close formation cooperative control based on predatory escaping pigeon-inspired optimization

提出一种基于捕食逃逸鸽群优化(pigeon-inspired optimization,PIO)的无人机(unmanned aerial vehicle,UAV)紧密编队协同控制方法.基于人工势场法设计了外环控制器,将无人机紧密编队转化成一种抽象的人造势场中的运动;基于鸽群优化算法设计了内环控制器,进行控制量的优化求解.在遵循鸽群优化基本思想的基础上,对其结构进行调整,并针对基本鸽群优化易陷入局部最优的问题,引入了捕食逃逸机制来改善鸽群优化总体性能.最后,将本文所提出的改进鸽群优化算法与基本鸽群优化算法、粒子群优化(particle swarm optimization,PSO)算法进行了系列对比实验,实验结果验证了文中所提方法的可行性、有效性和优越性.

A cooperative control method for unmanned aerial vehicle （UAV） based on predatory escaping pigeon-inspired optimization is proposed in this paper. The outer controller is designed by the potential field method, which convert the UAV close formation to an abstract motion in potential field. The inner controller is devised by pigeon-inspired optimization （PIO） to optimize the control inputs The structure of PIO has been adjusted on the basis of the basic PIO thoughts. The predatory escape behavior mechanism is adopted to solve the problem of falling into local optimum. Series of comparative experiments with basic PIO, particle swarm optimization （PSO） are conducted, and the experimental results verified the feasibility, validity and superiority of our proposed method.