Multi-unmanned aerial vehicle swarm formation control using hybrid strategy

2021 ◽  
pp. 014233122110038
Author(s):  
Zain Anwar Ali ◽  
Han Zhangang
Keyword(s):  
Formation Control ◽  
Fitness Function ◽  
Three Dimensional ◽  
Pso Algorithm ◽  
Control Parameters ◽  
Swarm Optimization ◽  
Hybrid Strategy ◽  
Aerial Vehicle ◽  
Global Optimal ◽  
Multi Uav

This study proposes a novel hybrid strategy for formation control of a swarm of multiple unmanned aerial vehicles (UAVs). To enhance the fitness function of the formation, this research offers a three-dimensional formation control for a swarm using particle swarm optimization (PSO) with Cauchy mutant (CM) operators. We use CM operators to enhance the PSO algorithm by examining the varying fitness levels of the local and global optimal solutions for UAV formation control. We establish the terrain and the fixed-wing UAV model. Furthermore, it also models different control parameters of the UAV as well. The enhanced hybrid algorithm not only quickens the convergence rate but also improves the solution optimality. Lastly, we carry out the simulations for the multi-UAV swarm under terrain and radar threats and the simulation results prove that the hybrid method is effective and gives better fitness function.

scholarly journals Mission Planning for Unmanned Aerial Vehicles Based on Voronoi Diagram-Tabu Genetic Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Wei Tan ◽  
Yong-jiang Hu ◽  
Yue-fei Zhao ◽  
Wen-guang Li ◽  
Xiao-meng Zhang ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Unmanned Aerial Vehicles ◽  
Voronoi Diagram ◽  
Pso Algorithm ◽  
Mission Planning ◽  
Cooperative System ◽  
Aerial Vehicles ◽  
Rendezvous Problem ◽  
Aerial Vehicle ◽  
Multi Uav

Unmanned aerial vehicles (UAVs) are increasingly used in different military missions. In this paper, we focus on the autonomous mission allocation and planning abilities for the UAV systems. Such abilities enable adaptation to more complex and dynamic mission environments. We first examine the mission planning of a single unmanned aerial vehicle. Based on that, we then investigate the multi-UAV cooperative system under the mission background of cooperative target destruction and show that it is a many-to-one rendezvous problem. A heterogeneous UAV cooperative mission planning model is then proposed where the mission background is generated based on the Voronoi diagram. We then adopt the tabu genetic algorithm (TGA) to obtain multi-UAV mission planning. The simulation results show that the single-UAV and multi-UAV mission planning can be effectively realized by the Voronoi diagram-TGA (V-TGA). It is also shown that the proposed algorithm improves the performance by 3% in comparison with the Voronoi diagram-particle swarm optimization (V-PSO) algorithm.

scholarly journals Optimal Design of Multimissile Formation Based on an Adaptive SA-PSO Algorithm

Aerospace ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 21
Author(s):  
Shuangxi Liu ◽  
Fengping Huang ◽  
Binbin Yan ◽  
Tong Zhang ◽  
Ruifan Liu ◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Simulated Annealing ◽  
Index System ◽  
Fitness Function ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Evaluation Index System ◽  
Design Parameters ◽  
Swarm Optimization ◽  
Adaptive Pso

In an effort to maximize the combat effectiveness of multimissile groups, this paper proposes an adaptive simulated annealing–particle swarm optimization (SA-PSO) algorithm to enhance the design parameters of multimissile formations based on the concept of missile cooperative engagement. Firstly, considering actual battlefield circumstances, we establish an effectiveness evaluation index system for the cooperative engagement of missile formations based on the analytic hierarchy process (AHP). In doing so, we adopt a partial triangular fuzzy number method based on authoritative assessments by experts to ascertain the weight of each index. Then, considering given constraints on missile performance, by selecting the relative distances and angles of the leader and follower missiles as formation parameters, we design a fitness function corresponding to the established index system. Finally, we introduce an adaptive capability into the traditional particle swarm optimization (PSO) algorithm and propose an adaptive SA-PSO algorithm based on the simulated annealing (SA) algorithm to calculate the optimal formation parameters. A simulation example is presented for the scenario of optimizing the formation parameters of three missiles, and comparative experiments conducted with the traditional and adaptive PSO algorithms are reported. The simulation results indicate that the proposed adaptive SA-PSO algorithm converges faster than both the traditional and adaptive PSO algorithms and can quickly and effectively solve the multimissile formation optimization problem while ensuring that the optimized formation satisfies the given performance constraints.

scholarly journals A Novel Three-Dimensional Path Planning Method for Fixed-Wing UAV Using Improved Particle Swarm Optimization Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-19
Author(s):  
Chen Huang
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Three Dimensional ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Planning Problem ◽  
Dimensional Problem ◽  
Complex Environment ◽  
Swarm Optimization ◽  
Path Planning Problem

This paper proposed an improved particle swarm optimization (PSO) algorithm to solve the three-dimensional problem of path planning for the fixed-wing unmanned aerial vehicle (UAV) in the complex environment. The improved PSO algorithm (called DCA ∗ PSO) based dynamic divide-and-conquer (DC) strategy and modified A ∗ algorithm is designed to reach higher precision for the optimal flight path. In the proposed method, the entire path is divided into multiple segments, and these segments are evolved in parallel by using DC strategy, which can convert the complex high-dimensional problem into several parallel low-dimensional problems. In addition, A ∗ algorithm is adopted to generated an optimal path from the particle swarm, which can avoid premature convergence and enhance global search ability. When DCA ∗ PSO is used to solve the large-scale path planning problem, an adaptive dynamic strategy of the segment selection is further developed to complete an effective variable grouping according to the cost. To verify the optimization performance of DCA ∗ PSO algorithm, the real terrain data is utilized to test the performance for the route planning. The experiment results show that the proposed DCA ∗ PSO algorithm can effectively obtain better optimization results in solving the path planning problem of UAV, and it takes on better optimization ability and stability. In addition, DCA ∗ PSO algorithm is proved to search a feasible route in the complex environment with a large number of the waypoints by the experiment.

UAV Path Planning Based on Particle Swarm Optimization with Global Best Path Competition

2018 ◽  
Vol 32 (06) ◽  
pp. 1859008 ◽  
Author(s):  
Chen Huang ◽  
Jiyou Fei
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Optimal Path ◽  
Three Dimensional ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Competition Strategy ◽  
Swarm Optimization ◽  
Evaluation Functions ◽  
Planning Methods

Path planning is the essential aspect of autonomous flight system for unmanned aerial vehicles (UAVs). An improved particle swarm optimization (PSO) algorithm, named GBPSO, is proposed to enhance the performance of three-dimensional path planning for fixed-wing UAVs in this paper. In order to improve the convergence speed and the search ability of the particles, the competition strategy is introduced into the standard PSO to optimize the global best solution during the process of particle evolution. More specifically, according to a set of segment evaluation functions, the optimal path found by single waypoint selection way is adopted as one of the candidate global best paths. Meanwhile, based on the particle as an integrated individual, an optimal trajectory from the start point to the flight target is generated as another global best candidate path. Subsequently, the global best path is determined by considering the pre-specified elevation function values of two candidate paths. Finally, to verify the performance of the proposed method, GBPSO is compared with some existing path-planning methods in two simulation scenarios with different obstacles. The results demonstrate that GBPSO is more effective, robust and feasible for UAV path planning.

scholarly journals Simulation Analysis and Model of Current Retrieval Based on Marine Radar Sea Clutter Images

2014 ◽  
Vol 2014 ◽  
pp. 1-14
Author(s):  
Liqiang Liu ◽  
Yuntao Dai ◽  
Jinyu Gao
Keyword(s):  
Simulation Analysis ◽  
Fitness Function ◽  
Three Dimensional ◽  
Pso Algorithm ◽  
Distribution Model ◽  
High Dispersion ◽  
Sea Clutter ◽  
Dimensional Image ◽  
X Band ◽  
Relation Model

Using the sea clutter image from X-Band radar for current retrieval is an effective way of obtaining information on ocean currents. Traditional methods used for current retrieval have been based on the least squares algorithm, which is not only simple and efficient but also generally speaking accurate. In order to improve the precision of current retrieval, this paper has, as its goal, the study of the used radar connected with sea clutter imaging for current retrieval, with the particle swarm optimization (PSO) algorithm being proposed. This method is achieved by obtaining a three-dimensional image spectrum, taking the high-order dispersion relation model as the theoretical distribution model of the wave energy points of three-dimensional image spectra, using a forward model within the PSO framework, and considering the requirements of the order of the model, weights and optimal distribution of the energy points, and so on in fitness function. Simulation results show that, compared with the traditional ILSM methods, the method provided in this paper is more flexible, with a capacity for a high dispersion relationship order, higher precision, and an increased stability in terms of current inversion.

scholarly journals Distributed 3-D Path Planning for Multi-UAVs with Full Area Surveillance Based on Particle Swarm Optimization

2021 ◽  
Vol 11 (8) ◽  
pp. 3417
Author(s):  
Nafis Ahmed ◽  
Chaitali J. Pawase ◽  
KyungHi Chang
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Fitness Function ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Human Beings ◽  
Swarm Optimization ◽  
Aerial Vehicles ◽  
Area Surveillance

Collision-free distributed path planning for the swarm of unmanned aerial vehicles (UAVs) in a stochastic and dynamic environment is an emerging and challenging subject for research in the field of a communication system. Monitoring the methods and approaches for multi-UAVs with full area surveillance is needed in both military and civilian applications, in order to protect human beings and infrastructure, as well as their social security. To perform the path planning for multiple unmanned aerial vehicles, we propose a trajectory planner based on Particle Swarm Optimization (PSO) algorithm to derive a distributed full coverage optimal path planning, and a trajectory planner is developed using a dynamic fitness function. In this paper, to obtain dynamic fitness, we implemented the PSO algorithm independently in each UAV, by maximizing the fitness function and minimizing the cost function. Simulation results show that the proposed distributed path planning algorithm generates feasible optimal trajectories and update maps for the swarm of UAVs to surveil the entire area of interest.

scholarly journals Determining of geometrical characteristic parameters of particle fractal aggregates from light scattering measurement signals

2020 ◽  
pp. 203-203
Author(s):  
Liang Xu ◽  
Zhen-Zong He ◽  
Jun-Kui Mao ◽  
Xing-Si Han
Keyword(s):  
Particle Swarm Optimization ◽  
Light Scattering ◽  
Fitness Function ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Fractal Aggregates ◽  
Swarm Optimization ◽  
Repulsive Particle Swarm Optimization ◽  
Light Scattering Measurement ◽  
Scattering Measurement

Two kind of light scattering measurement methods, i.e. the forward light scattering measurement (FLSM) method and the angular light scattering measurement (ALSM) method, are applied to reconstruct the geometrical morphology of particle fractal aggregates. An improved Attractive and Repulsive Particle Swarm Optimization (IARPSO) algorithm is applied to reconstruct the geometrical structure of fractal aggregates. It has been confirmed to show better convergence properties than the original Particle Swarm Optimization (PSO) algorithm and the Attractive and Repulsive Particle Swarm Optimization (ARPSO) algorithm. Compared with the FLSM method, the ASLM method can obtain more accurate and robust results as the distribution of the fitness function value obtained by the ALSM method is more satisfactory. Meanwhile, the retrieval accuracy can be improved by increasing the number of measurement angles or the interval between adjacent measurement angles even when the random noises are added. All the conclusions have important guiding significance for the further study of the geometry reconstruction experiment of fractal aggregates.

scholarly journals An improved predator-prey particle swarm optimization algorithm for Nash equilibrium solution

PLoS ONE ◽  
2021 ◽  
Vol 16 (11) ◽  
pp. e0260231
Author(s):  
Yufeng Meng ◽  
Jianhua He ◽  
Shichu Luo ◽  
Siqi Tao ◽  
Jiancheng Xu
Keyword(s):  
Particle Swarm Optimization ◽  
Nash Equilibrium ◽  
Particle Swarm ◽  
Optimal Solution ◽  
Pso Algorithm ◽  
Global Optimal Solution ◽  
Swarm Optimization ◽  
Predator Prey ◽  
Global Optimal ◽  
Zero Sum

Focusing on the problem incurred during particle swarm optimization (PSO) that tends to fall into local optimization when solving Nash equilibrium solutions of games, as well as the problem of slow convergence when solving higher order game pay off matrices, this paper proposes an improved Predator-Prey particle swarm optimization (IPP-PSO) algorithm based on a Predator-Prey particle swarm optimization (PP-PSO) algorithm. First, the convergence of the algorithm is advanced by improving the distribution of the initial predator and prey. By improving the inertia weight of both predator and prey, the problem of “precocity” of the algorithm is improved. By improving the formula used to represent particle velocity, the problems of local optimizations and slowed convergence rates are solved. By increasing pathfinder weight, the diversity of the population is increased, and the global search ability of the algorithm is improved. Then, by solving the Nash equilibrium solution of both a zero-sum game and a non-zero-sum game, the convergence speed and global optimal performance of the original PSO, the PP-PSO and the IPP-PSO are compared. Simulation results demonstrated that the improved Predator-Prey algorithm is convergent and effective. The convergence speed of the IPP-PSO is significantly higher than that of the other two algorithms. In the simulation, the PSO does not converge to the global optimal solution, and PP-PSO approximately converges to the global optimal solution after about 40 iterations, while IPP-PSO approximately converges to the global optimal solution after about 20 iterations. Furthermore, the IPP-PSO is superior to the other two algorithms in terms of global optimization and accuracy.

Optimization of PMSM Sensorless Control Based on Improved PSO Algorithm

2011 ◽  
Vol 383-390 ◽  
pp. 86-92
Author(s):  
Miao Wang Qian ◽  
Guo Jun Tan ◽  
Ning Ning Li ◽  
Zhong Xiang Zhao
Keyword(s):  
Particle Swarm Optimization ◽  
Simulated Annealing Algorithm ◽  
Sensorless Control ◽  
Fitness Function ◽  
Permanent Magnet Synchronous Motor ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Extend Kalman Filter ◽  
Swarm Optimization ◽  
Manual Adjustment

For the problem that manual adjustment of the parameters of controller in sensorless control system costs too much time, manpower and always can not get a good result, a new method based on improved particle swarm optimization algorithm is proposed to optimize the parameters. The improved algorithm is based on the standard particle swarm optimization with the simulated annealing algorithm and chaotic search brought in. The speed of motor is estimated by the extend Kalman filter. The error between measured speed and estimated speed of the permanent magnet synchronous motor rotor is used as the fitness function in order that the parameters in the covariance matrix is adjusted.The result of simulation indicates that high estimation precision can be got and the motor represents steadily with few of ripple of the actual speed.With this method, the time of adjustment is reduced and manpower is saved. In addition, the validity of the method is proved in experiment with dSPACE.

scholarly journals A three-dimensional point cloud registration based on entropy and particle swarm optimization

2018 ◽  
Vol 10 (12) ◽  
pp. 168781401881433 ◽  
Author(s):  
Xu Zhan ◽  
Yong Cai ◽  
Ping He
Keyword(s):  
Particle Swarm Optimization ◽  
Point Cloud ◽  
Fitness Function ◽  
Three Dimensional ◽  
Particle Swarm ◽  
Point Clouds ◽  
Particle Swarm Algorithm ◽  
Registration Accuracy ◽  
Point Cloud Registration ◽  
Swarm Optimization

A three-dimensional (3D) point cloud registration based on entropy and particle swarm algorithm (EPSA) is proposed in the paper. The algorithm can effectively suppress noise and improve registration accuracy. Firstly, in order to find the k-nearest neighbor of point, the relationship of points is established by k-d tree. The noise is suppressed by the mean of neighbor points. Secondly, the gravity center of two point clouds is calculated to find the translation matrix T. Thirdly, the rotation matrix R is gotten through particle swarm optimization (PSO). While performing the PSO, the entropy information is selected as the fitness function. Lastly, the experiment results are presented. They demonstrate that the algorithm is valuable and robust. It can effectively improve the accuracy of rigid registration.

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