基于多蜂群的多无人机协同自适应搜索

针对多无人机(unmanned aerial vehicle,UAV)在未知海域环境下协同搜索这一重要研究课题,提出基于精英学习的多蜂群协同自适应搜索路径规划算法.首先,建立考虑飞行高度时变的无人机模型、传感器模型以及海域模型.其次,在该模型基础上建立了包括目标发现收益、期望探测收益及避碰等多目标效能函数.在考虑到UA...

Multi-UAV Cooperative Adaptive Search Path Planning Based on Multi-Bee Colony

In this research, an important topic of cooperative search for multi-dynamic targets in an unknown marine environment by unmanned aerial vehicle (UAV) is studied based on a novel multi-bee colony elite-learning algorithm. Firstly, a specialized searching model is established which includes the UAV dynamic, the sensor model, the target probability and environmental certainty with different flight altitude. Then, a new search strategy, which consists of rough search and precise search is proposed by considering the multi-objective cost function with the dynamic changing of the flight altitude. In order to solve the cost function, an improved multi-bee algorithm based on elite learning is designed, which overcomes the shortcomings of the poor adaptability and slow solution of the standard ABC algorithm, and ensures strong adaptability under different search. Finally, the improved algorithm and search strategy were simulated in different scenarios, and the results verify the effectiveness of the proposed method.