Particle Swarm Optimization for Target Encirclement by a UAV Formation

[摘要] This paper presents an idea of using particle swarm optimization (PSO) to tune the control system of a decentralized unmanned aerial vehicle (UAV) formation. Simulations were run on a consensus-based decentralized UAV formation. Vector field guidance was used to control the formation. A fitness function is proposed that is based not only on the error of distance to the circular path, but also on the relative inter-UAV distance error. To demonstrate the effectiveness of the proposed method, the obtained results of such tuning are compared to those obtainable by the conventional trial and error method.

[关键词] UAV formation flight;collective circumnavigation;target tracking;vector field guidance;drone flocking