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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Dynamic Discrete Pigeon-Inspired Optimization for Multi-UAV Cooperative Search-Attack Mission Planning
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Dynamic Discrete Pigeon-Inspired Optimization for Multi-UAV Cooperative Search-Attack Mission Planning

机译：Multi-UAV合作搜索攻击任务规划的动态离散鸽子启发优化

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摘要

For multiple unmanned aerial vehicles (UAVs) performing aerial search-attack tasks, there is a tradeoff between maximizing total benefit and minimizing consumption under the validity of constraints. This article proposes a dynamic discrete pigeon-inspired optimization algorithm to handle cooperative search-attack mission planning for UAVs, which integrates the centralized task assignment and distributed path generation aspects of the problem. Besides, a solution acceptance strategy is proposed to avoid frequent task switching. To design a reasonable objective function, the probability map is constructed and updated by Bayes formula to guide the following search motion, and a response threshold sigmoid model is adopted for target allocation during executing attack. Moreover, the flyable trajectories are generated by B-spline curves based on the simplified waypoints. Finally, numerical experiments prove that the proposed methods can provide feasible solutions for multiple UAVs considering different scenarios, such as the absence or presence of threats and insufficient resources. The results also show that the solution acceptance strategy is effective to improve performance. Moreover, the extensible mission planning system also integrates with an interactive 3D visualization simulation module, where the multi-UAV coordinated flight processes are demonstrated dynamically.
机译：对于执行空中搜索任务的多个无人驾驶飞行器（无人机），在最大化总益处和在限制的有效性下最小化消耗之间存在权衡之间的权衡。本文提出了一种动态离散的鸽子启发优化算法，以处理无人机的合作搜索攻击任务规划，这集成了问题的集中任务分配和分布式路径生成方面。此外，提出了一种解决方案验收策略，以避免频繁的任务切换。为了设计合理的客观函数，拜节公式构造和更新概率图以指导以下搜索运动，并且在执行攻击期间采用响应阈值Sigmoid模型进行目标分配。此外，可通过基于简化的航点由B样条曲线产生可传真轨迹。最后，数值实验证明，所提出的方法可以为考虑不同场景的多个无人机提供可行的解决方案，例如威胁或存在资源不足。结果还表明，解决方案验收策略有效提高性能。此外，可扩展的任务规划系统还与交互式3D可视化模拟模块集成，其中多UAV协调飞行过程是动态演示的。

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    Duan Haibin; Zhao Jianxia; Deng Yimin; Shi Yuhui; Ding Xilun;

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    Beihang Univ Sch Automat Sci & Elect Engn State Key Lab Virtual Real Technol Syst Beijing 100083 Peoples R China|Peng Cheng Lab Shenzhen 518000 Peoples R China;

    Beihang Univ Sch Automat Sci & Elect Engn State Key Lab Virtual Real Technol Syst Beijing 100083 Peoples R China;

    Beihang Univ Sch Automat Sci & Elect Engn State Key Lab Virtual Real Technol Syst Beijing 100083 Peoples R China;

    Southern Univ Sci & Technol Dept Comp Sci & Engn Shenzhen 518055 Peoples R China;

    Beihang Univ Sch Mech Engn & Automat Beijing 100083 Peoples R China;

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