Dynamic multi-UAVs formation reconfiguration based on hybrid diversity-PSO and time optimal control

This paper proposed a novel hybrid diversity particle swarm optimization (PSO) and time optimal control approach to multiple unmanned aerial vehicles (multi-UAVs) formation reconfiguration in dynamic and complicated environments. Based on the modeling of the dynamic environments, a novel diversity PSO model is proposed. In order to track the dynamic changes, the fitness function changes along with iteration. The procedure for solving the multi-UAVs formation reconfiguration problem is also given in detail. Series simulation results verified the feasibility and effectiveness of the proposed method for solving the multi-UAVs formation reconfiguration problems in complicated and dynamic environments.

I. Introduction

IN recent years, multiple Unmanned Aerial Vehicles (multi-UAVs) formation reconfiguration has become a hot topic for the reason that it can be widely applied in both military and civilian fields. When one of the UAVs is damaged or out of control, the formation should be reconfigured to conduct the mission [1]. During the interim of multi-UAVs formation reconfiguration, many constraints should be considered, such as time, threats, collision avoiding, safe distance ensuring, and so on. An appropriate reconfiguration can bring not only high efficiency, but also high accuracy of the mission. The multi-UAVs formation reconfiguration mainly focus on determining a nominal input trajectory for each UAV so that the multi-UAVs group can start from the initial configuration and reach its final configuration at the certain time while satisfying the set of constraints [2].