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UAV swarm formation reconfiguration control based on variable-stepsize MPC-APCMPIO algorithm

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Abstract

For a complex operational environment, to actualize safe obstacle avoidance and collision avoidance, a swarm must be capable of autonomous formation reconfiguration. First, this paper introduces the basic pigeon-inspired optimization (PIO) algorithm, and establishes the unmanned aerial vehicle motion model and the virtual leader swarm formation control structure. Then, given the above knowledge, the basic error objective function of a UAV swarm, obstacle avoidance objective function, and collision avoidance objective function are devised based on the variable-stepsize model predictive control technique. Next, the adaptive perception Cauchy mutation PIO algorithm is proposed by introducing the Cauchy mutation operator, adaptive weight factor, and roulette wheel selection into the basic PIO. This algorithm is used to optimally solve the abovementioned swarm objective functions. Ultimately, a set of comparative simulations are performed to verify the effectiveness and reliability of the proposed algorithm.

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Acknowledgements

This work was supported in part by National Natural Science Foundation of China (Grant No. 61973327), National Outstanding Youth Talents Support Program (Grant No. 61822304), Shanghai Municipal Science and Technology Major Project (Grant No. 2021SHZDZX0100), Shanghai Municipal Commission of Science and Technology Project (Grant No. 19511132101), Projects of Major International (Regional) Joint Research Program of NSFC (Grant No. 61720106011), and Science and Technology Research Project of Jiangxi Provincial Department of Education (Grant No. GJJ201410).

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Author notes

  1. Liao J, Cheng J, and Xin B have the same contribution to this work.

Authors and Affiliations

  1. School of Physics and Electronic Information, Gannan Normal University, Ganzhou, 341000, China

    Jian Liao

  2. Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, China

    Jun Cheng & Yuhang Kang

  3. School of Automation, Beijing Institute of Technology, Beijing, 100081, China

    Bin Xin

  4. School of Aerospace Engineering, Xiamen University, Xiamen, 361102, China

    Delin Luo

  5. School of Electronic Information, Northwest University of Technology, Xi’an, 710129, China

    Lihui Zheng

  6. School of Basic Science, Naval Aviation University of PLA, Yantai, 264001, China

    Shaolei Zhou

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  1. Jian Liao
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  2. Jun Cheng
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  3. Bin Xin
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  4. Delin Luo
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  5. Lihui Zheng
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  6. Yuhang Kang
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  7. Shaolei Zhou
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Corresponding author

Correspondence to Delin Luo.

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Liao, J., Cheng, J., Xin, B. et al. UAV swarm formation reconfiguration control based on variable-stepsize MPC-APCMPIO algorithm. Sci. China Inf. Sci. 66, 212207 (2023). https://doi.org/10.1007/s11432-022-3735-5

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  • DOI: https://doi.org/10.1007/s11432-022-3735-5

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