Max-Min Adaptive Ant Colony Optimization Approach to Multi-UAVs Coordinated Trajectory Replanning in Dynamic and Uncertain Environments

Multiple Uninhabited Aerial Vehicles (multi-UAVs) coordinated trajectory replanning is one of the most complicated global optimum problems in multi-UAVs coordinated control. Based on the construction of the basic model of multi-UAVs coordinated trajectory replanning, which includes problem description, threat modeling, constraint conditions, coordinated function and coordination mechanism, a novel Max-Min adaptive Ant Colony Optimization (ACO) approach is presented in detail. In view of the characteristics of multi-UAVs coordinated trajectory replanning in dynamic and uncertain environments, the minimum and maximum pheromone trails in ACO are set to enhance the searching capability, and the point pheromone is adopted to achieve the collision avoidance between UAVs at the trajectory planner layer. Considering the simultaneous arrival and the air-space collision avoidance, an Estimated Time of Arrival (ETA) is decided first. Then the trajectory and flight velocity of each UAV are determined. Simulation experiments are performed under the complicated combating environment containing some static threats and popup threats. The results demonstrate the feasibility and the effectiveness of the proposed approach.

Review of X-ray pulsar spacecraft autonomous navigation

This article provides a review on X-ray pulsar-based navigation(XNAV).The review starts with the basic concept of XNAV,and briefly introduces the past,present and future projects concerning XNAV.This paper focuses on the advances of the key techniques supporting XNAV,including the navigation pulsar database,the X-ray detection system,and the pulse time of arrival estimation.Moreover,the methods to improve the estimation performance of XNAV are reviewed.Finally,some remarks on the future development of XNAV are provided.

一种基于时空轨迹挖掘的即时配送末端路径指引策略

针对即时配送“最后一公里”的问题,综合利用订单取送点、即时配送骑手历史时空轨迹、兴趣面(area of interest,AOI)空间范围与门禁位置等数据,精确预估AOI内部各兴趣点(point of interest,POI)到相应可通行门禁点的时间、距离及路径。在此基础上设计了配套的调用选优策略,获得最优的末端指引方案,以有效提高即时配送路径质量及时间距离预估准确性。