Multi-unmanned aerial vehicle adaptive formation cooperative trajectory planning

doi:10.11772/j.issn.1001-9081.2019112047

Journal of Computer Applications ›› 2020, Vol. 40 ›› Issue (5): 1515-1521.DOI: 10.11772/j.issn.1001-9081.2019112047

• Frontier & interdisciplinary applications • Previous Articles Next Articles

Multi-unmanned aerial vehicle adaptive formation cooperative trajectory planning

XU Yang^1,2, QIN Xiaolin^1,2, LIU Jia^1,2, ZHANG Lige^1,2

1.Chengdu Institute of Computer Application, Chinese Academy of Sciences, ChengduSichuan 610041, China
2.School of Computer and Control Engineering, University of Chinese Academy of Sciences, Beijing 100080, China

Received:2019-12-02 Revised:2020-01-07 Online:2020-05-10 Published:2020-05-15
Contact: QIN Xiaolin, born in 1980, Ph. D., research fellow. His research interests include artificial intelligence, automatic reasoning.
About author:XU Yang, born in 1994, M. S.， candidate. His research interests include UAV cooperative control, machine learning, swarm intelligence.QIN Xiaolin, born in 1980, Ph. D., research fellow. His research interests include artificial intelligence, automatic reasoning.LIU Jia, born in 1995, M. S.， candidate. Her research interests include trajectory planning, machine learning.ZHANG Lige, born in 1995, Ph. D.， candidate. His research interests include machine learning, optimization algorithm.
Supported by:
This work is partially supported by the National Natural Science Foundation of China (61402537), The “Light of West China” Program of Chinese Academy of Sciences, the Special Funding for Talents of the Organization Department of Sichuan Provincial Party Committee, the Open Fund Project of Guangxi Key Laboratory of Hybrid Computing and IC Design Analysis (HCIC201706).

多无人机自适应编队协同航迹规划

许洋^1,2, 秦小林^1,2, 刘佳^1,2, 张力戈^1,2

1.中国科学院成都计算机应用研究所，成都 610041
2.中国科学院大学计算机与控制学院，北京 100080

通讯作者: 秦小林(1980—)
作者简介:许洋(1994—)，男，重庆人，硕士研究生，主要研究方向：无人机协同控制、机器学习、集群智能；秦小林(1980—)，男，重庆合川人，研究员，博士生导师，博士，主要研究方向：人工智能、自动推理；刘佳(1995—)，女，宁夏银川人，硕士研究生，主要研究方向：航迹规划、机器学习；张力戈(1995—)，男，山西原平人，博士研究生，主要研究方向：机器学习、优化算法。
基金资助:
国家自然科学基金资助项目（61402537）；中国科学院“西部青年学者”项目；四川省委组织部人才专项；广西混杂计算与集成电路设计分析重点实验室开放基金课题(HCIC201706)。

Abstract

Abstract:

Aiming at the problem of neglecting some narrow roads due to the formation constraints in the multi-UAV （Unmanned Aerial Vehicle） cooperative trajectory planning, a Fast Particle Swarm Optimization method based on Adaptive Distributed Model Predictive Control (ADMPC-FPSO) was proposed. In the method, the formation strategy combining leader-follower method and virtual structure method was used to construct adaptive virtual formation guidance points to complete the cooperative formation control task. According to the idea of model predictive control, combined with the distributed control method, the cooperative trajectory planning was transformed into a rolling online optimization problem, and the minimum distance and other performance indicators were used as cost functions. By designing the evaluation function criterion, the variable weight fast particle swarm optimization algorithm was used to solve the problem. The simulation results show that the proposed algorithm can effectively realize the multi-UAV cooperative trajectory planning, can quickly complete the adaptive formation transformation according to the environmental changes, and has lower cost than the traditional formation strategy.

Key words: trajectory planning, cooperative control, adaptive, model predictive control, distributed, particle swarm optimization

摘要：

针对多无人机（UAV）协同航迹规划中因编队队形约束而忽略部分较窄通道的问题，提出了一种基于自适应分布式模型预测控制的快速粒子群优化(ADMPC-FPSO)方法。该方法利用领航跟随法和虚拟结构法相结合的编队策略构造出虚拟编队引导点，以完成自适应编队协同控制任务。根据模型预测控制的思想，结合分布式控制方法，将协同航迹规划转化为滚动在线优化问题，且以最小距离等性能指标为代价函数。通过设计评价函数准则，使用变权重快速粒子群优化算法对问题进行求解。仿真结果表明，通过所提算法能够有效实现多无人机协同航迹规划，并可根据环境变化快速完成自适应编队变换，同时较传统编队策略代价更低。

关键词: 航迹规划, 协同控制, 自适应, 模型预测控制, 分布式, 粒子群优化

CLC Number:

TP391
V279

XU Yang, QIN Xiaolin, LIU Jia, ZHANG Lige. Multi-unmanned aerial vehicle adaptive formation cooperative trajectory planning[J]. Journal of Computer Applications, 2020, 40(5): 1515-1521.

许洋, 秦小林, 刘佳, 张力戈. 多无人机自适应编队协同航迹规划[J]. 计算机应用, 2020, 40(5): 1515-1521.

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Multi-unmanned aerial vehicle adaptive formation cooperative trajectory planning

多无人机自适应编队协同航迹规划

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