基于飞蛾信息素寻偶机制的无人机集群协同搜索

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

为了提高无人机集群协同搜索移动目标的效率,提出一种基于飞蛾信息素寻偶机制的无人机集群协同搜索方法。根据飞蛾基于信息素选择飞行方向的寻偶行为,建立信息素图风向模型和飞蛾信息素寻偶模型。考虑无人机机间避撞约束,提出从飞蛾信息素寻偶机制到无人机集群分布式协同搜索的映射,并给出具体实现流程。仿真实验结果表明了所提方法在解决单个移动目标的协同搜索问题时的有效性和稳定性;外场飞行试验表明了所提方法在实际应用中的可行性。

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.