Title: Pigeon-inspired optimisation algorithm with hierarchical topology and receding horizon control for multi-UAV formation

Authors: Yankai Shen; Yiming Deng

Addresses: State Key Laboratory of Virtual Reality Technology and Systems, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China ' State Key Laboratory of Virtual Reality Technology and Systems, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China

Abstract: Multi-UAV formation is a crucial research aspect of UAV cooperation control. This paper proposes a hierarchical topology pigeon-inspired optimisation (HPIO) and a receding horizon control (RHC) to deal with the problem. The RHC method can convert the problem into an online optimisation problem. Besides, inspired by the structure of pigeon flock, a new topology with a hierarchical structure of pigeons is designed. The velocity updating formula of the original PIO is redesigned. Then the stability of the modified PIO is discussed. Finally, the HPIO to generate the desired formation control in each time domain of the RHC is used. The simulation results verify the feasibility and effectiveness of the proposed method.

Keywords: multi-UAV formation; receding horizon control; RHC; pigeon-inspired optimisation; PIO; hierarchical topology.

DOI: 10.1504/IJBIC.2021.119949

International Journal of Bio-Inspired Computation, 2021 Vol.18 No.4, pp.239 - 249

Accepted: 18 Aug 2020
Published online: 04 Jan 2022 *

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