A Self-Organized Reciprocal Decision Approach for Sensing Coverage with Multi-UAV Swarms

Sensors

Runfeng Chen¹  Ning Xu¹  Jie Li¹ 

[1] College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China;

关键词: sensing coverage;    Unmanned Aerial Vehicles;    cooperative motion;    decentralized decision;    swarm intelligence;   

DOI  :  10.3390/s18061864

来源: DOAJ

【 摘 要 】

This paper tackles the problem of sensing coverage for multiple Unmanned Aerial Vehicles (UAVs) with an approach that takes into account the reciprocal between neighboring UAVs to reduce the oscillation of their trajectories. The proposed reciprocal decision approach, which is performed in three steps, is self-organized, distributed and autonomous. First, in contrast to the traditional method modeled and optimized in configuration space, the sensing coverage problem is directly presented as an optimal reciprocal coverage velocity (ORCV) in velocity space that is concise and effective. Second, the ORCV is determined by adjusting the action velocity out of weak coverage velocity relative to neighboring UAVs to demonstrate that the ORCV supports a collision-avoiding assembly. Third, a corresponding random probability method is proposed for determining the optimal velocity in the ORCV. The results from the simulation indicate that the proposed method has a high coverage rate, rapid convergence rate and low deadweight loss. In addition, for up to 103-size UAVs, the proposed method has excellent scalability and collision-avoiding ability.

【 授权许可】

Unknown