TY - GEN
T1 - Cooperative search of UAV swarm based on improved ant colony algorithm in uncertain environment
AU - Yang, Fan
AU - Ji, Xiuling
AU - Yang, Chengwei
AU - Li, Jie
AU - Li, Bing
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - Considering the situation that the regional environment is completely unknown and is dynamically changing, a novel method for multi-UAV (Unmanned Aerial Vehicle) conducting cooperative area search based on Ant Colony (AC) Theory is proposed. Firstly, the regional environment model and the UAV dynamic model were established. Secondly, the transfer rules of the waypoints were determined for UAVs by improving the behavior criterion of the ant colony algorithm and the updating principle of the pheromone map. Finally, Compared with the conventional search methods, the simulation results with higher coverage rate and search efficiency demonstrated the improved ant colony algorithm was rationality and validity.
AB - Considering the situation that the regional environment is completely unknown and is dynamically changing, a novel method for multi-UAV (Unmanned Aerial Vehicle) conducting cooperative area search based on Ant Colony (AC) Theory is proposed. Firstly, the regional environment model and the UAV dynamic model were established. Secondly, the transfer rules of the waypoints were determined for UAVs by improving the behavior criterion of the ant colony algorithm and the updating principle of the pheromone map. Finally, Compared with the conventional search methods, the simulation results with higher coverage rate and search efficiency demonstrated the improved ant colony algorithm was rationality and validity.
KW - cooperative area search
KW - improved ant colony algorithm
KW - pheromone map
KW - swarm
KW - unmanned aerial vehicle (UAV)
UR - http://www.scopus.com/inward/record.url?scp=85046680533&partnerID=8YFLogxK
U2 - 10.1109/ICUS.2017.8278346
DO - 10.1109/ICUS.2017.8278346
M3 - Conference contribution
AN - SCOPUS:85046680533
T3 - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
SP - 231
EP - 236
BT - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
A2 - Xu, Xin
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Y2 - 27 October 2017 through 29 October 2017
ER -