Reversed Pigeon-Inspired Optimization Algorithm for Unmanned Aerial Vehicle Swarm Cooperative Autonomous Formation Reconfiguration

A cooperative control method for unmanned aerial vehicle (UAV) swarm cooperative autonomous formation reconfiguration based on the reversed pigeon-inspired optimization (RPIO) algorithm is proposed. Firstly, the formation controller is designed to realize UAV swarm autonomous formation reconfiguration. Secondly, following the basic idea of pigeon-inspired optimization (PIO), for optimizing the slow convergence speed and falling into local optimum, adjust the updating strategy and topological structure of standard PIO. And the reversed PIO is used to optimize the parameters of UAV swarm formation controller. Finally, through the simulation experiment, it is verified that the UAV swarm can form expectedly, keep the formation under the leader UAV’s complex movement condition and reconfigure under the action of the UAV swarm autonomous formation controller proposed in this paper. The reversed PIO proposed in this paper is compared with the standard PIO, particle swarm optimization (PSO) and genetic algorithm (GA) and the results prove the effectiveness and superiority of the method proposed in this article.