Resilience based self-organizing region coverage method for unmanned aerial vehicle swarm

被引：0

作者：

Liu T. ^{[1
]}

Wang S. ^{[1
]}

Zhang C. ^{[1
]}

Bai G. ^{[1
]}

Tao J. ^{[1
]}

机构：

[1] College of Intelligence Science and Technology, National University of Defense Technology, Changsha

来源：

Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2024年 / 46卷 / 03期

关键词：

distributed algorithm; region coverage; resilience; self-organizing; unmanned aerial vehicle swarm; virtual force;

D O I：

10.12305/j.issn.1001-506X.2024.03.20

中图分类号：

学科分类号：

摘要：

To improve the success rate of unmanned aerospace vehicle (UAV) swarm performing coverage task, a distributed self-organizing coverage method is proposed. This method is based on three virtual forces, namely individual UAV interaction force, boundary repulsive force, and attraction of key areas. Then, the influence of failure of UAVs is taken into account. A resilience index is incorporated into the coverage threshold adjustment mechanism. Simulation experiments show that the proposed method can provide a more sufficient coverage of the target area and key areas. After the swarm failed or damaged, the proposed method is able to recover quickly in a self-adaptive manner, and achieve a higher mission success rate. © 2024 Chinese Institute of Electronics. All rights reserved.

引用

页码：942 / 952

页数：10

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