Research On Coordinated Flight Strategy For Multi-UAV Based On Bee Colony Algorithm

With the improvement of aeronautical and space technologies and the complexity ofoperational environment, multi-UAV complete the task through coordinated control is a majortrend in the work high above the ground in the future, and in different countries, the researchfocus on multi-UAV how to accomplish task reasonably.In this paper, research background and meaning of this thesis and basic principle of beecolony algorithm are introduced. It is studied that the mission planning of multi-UAV basedon bee colony algorithm. First, the optimization effect of the bee colony algorithm is validated.By comparison of ABC algorithm and BBOABC、BBODE、DE、PSO、GA, we obtained thefundamental selection range of key parameter, then optimized several functions. The resultsindicated that bee colony algorithm has high accuracy; it is also efficient and effective. Beecolony algorithm is a new kind of meta-heuristic algorithm.On basis of well optimal performance of bee colony algorithm, we optimized thetrajectory of UAV, a brief analysis and summary about various factors must be considered、research objects and commonly used algorithms in trajectory planning. It mainly elaboratesenvironmental model construction, constraint condition, route evaluation and feasibility ofroute evaluation through cost function. And trajectory planning is by using bee colonyalgorithm; it is based on the model of trajectory planning and coordinated strategy. The resultof simulation shows that bee colony algorithm can complete the trajectory planning. Throughadjusting coordination variable estimated team arrival time, coordination agent selects pathsand feasible velocities among each UAV initial optimal and suboptimal paths, such that timingconstraint is satisfied. In consequence, multi-UAV arrivals predetermined location with theleast team’s consumption. Moreover, the path which is selected tries to ensure the individualconsumption is least too. The attack direction of target is also simulated in this paper.With the consideration of flight control of multi-UAV which is based on bee colony model,individual UAV reaches the swarm of intelligent flight through self-organization which is onthe basis of4rules in bee colony flight mechanism and the classification of bees. The scoutstarts off on the mission of searching for target, inform the need to complete the task themunber of UAV.UAV to avoid obstacles and complete the task. then,follow UAV is called forsaving time to ensure the swarm of UAV is completed the mission of attack.