改进Quatre算法的无人机编队快速集结方法

doi:10.12305/j.issn.1001-506X.2022.09.18

Abstract

Abstract:

To improve the stability of multiple unmanned aerial vehicle (UAV) in the process of formation assembly, this paper proposes a UAV formation method based on improved quasi-affine transformation evolutionary (IQuatre) algorithm. First of all, based on distributed model predictive control (DMPC), a motion prediction model of the UAV formation is established. By predicting the "future state" of the UAV, the risk of collision within the formation is avoided. The mathematical model of rolling optimization improves the stability of the UAV to reach the designated position. UAV is better and faster to join the formation flight. Secondly, the Quatre algorithm is improved on population optimization by the parent individuals carrying the best genes selectively added to the offspring population to speed up population convergence. The experimental results show that the UAV formation based on the DMPC has no UAV collision, and reduces the position deviation during the UAV adjustment state. Comparing simulations verify that the IQuatre algorithm can improve the stability of the formation assembly. Compared with the original Quatre algorithm, the average number of iterations is reduced by 5.2%, the calculation time is saved by 4.6%, and the position error is reduced by 0.45 m.

Key words: unmanned aerial vehicle (UAV) formation, distributed model predictive control (DMPC), improved quasi-affine transformation evolutionary (IQuatre), rolling optimization, population optimization

CLC Number:

TP301

Tianye SUN, Wei SUN, Jianjun WU. UAV formation rapid assembly method based on improved Quatre algorithm[J]. Systems Engineering and Electronics, 2022, 44(9): 2840-2848.

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参数	速度/(m/s)	航向角/(°)	俯仰角/(°)	加速度/(m/s²)	航向角速度/(°)	俯仰角速度/(°)
最小参数	30	-180	45	-0.7	-15	-15
最大参数	50	180	135	0.7	15	15

算法	参数设置
Pro-DE	变异概率0.4, 交叉概率0.6
DE	变异概率0.6, 交叉概率0.6
GA	交叉概率0.3, 变异概率0.1
PSO	权重1, 学习系数0.5
Quatre	步长0.7
IQuatre	步长0.7

算法	5架无人机	15架无人机	25架无人机
IQuatre	20	57	89
Quatre	21	59	94
Pro-DE	28	80	127
DE	39	115	186
GA	37	108	181
PSO	78	232	389

算法	IQuatre	Quatre	Pro-DE	DE	GA	PSO
距离	1.62	2.07	2.93	3.78	19.8	1.95

算法	IQuatre	Quatre	Pro-DE	DE	GA	PSO
距离	1.7	2.02	3.12	11.03	24.14	2.99

UAV formation rapid assembly method based on improved Quatre algorithm

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