Cooperative Control Of UAV Based On Multi-Agent System

Considering the ability limitation of the single UAV and the complexity of theoperation in the large UAV group, a self-governing UAV system based on Agentshould be set up to solve the problems when UAVs are executing the cooperativemission and the coordinated flight. The Agent in the system is initiative enough tocomplete the oriented mission through information interaction and mission sharingindependently, at the same, auction mechanism is rational applied in the system toachieve the reasonable mission decomposition and the optimal mission distribution,that will greatly save the human resources and meanwhile improve the success rateand efficiency of accomplishing the mission.The hybrid individual Agent designed in the system has the fine reactioncapacity and thinking capacity, the establishment of responding layer is manly basedon the property of UAV and the lower-level function of Agent, the realization ofUAV trajectory tracking mechanism via utilizing approximation principle, therealization of UAV coordinated flight formation via utilizing the improved methodof artificial potential field, the disposing mechanism replying for the modification offormation and emergency; The establishment of thinking layer is based on the BDImodel of Agent, the thinking layer can abstract and modeling the mission validly,and this will help the system to make the mission decomposed and distributedeffectively and reasonably by the designed auction mechanism what leading to theoptimal completion of the mission. In this paper, the quantitative parameters andobjective function for Agent to compare and examine with each other mutually aredevised in this paper for the mission, and using them to classify the missionaccording to the differences among the mission model, after doing more analysisespecially aiming at the coupled and dynamic features of the mission which resultsin the design of the auction mechanism and allocation algorithm for the looselycoupled mission, tightly coupled mission and redistribution.The method of mission allocation which contains the auction mechanism hasoutstanding flexibility and stability, especially suits Multi-Agent system withuncertainty to process the issues of maximizing the profit, the system can achievethe maximum profit of the overall system by maximizing the profit of the individualdistributively. The problem of cooperative mission in the system based on Agentusually can be summarized as the traveling salesman problem with the character ofNP-Hard, auction mechanism is able to obtain the optimal solution of this kind ofproblem effectively and rapidly. Considering the instantaneity of the actual Multi-Agent system, system uses the Prim algorithm and Particle Swarm algorithmto improve the auction mechanism that let the procedure of the missionannouncement and bidding more rapid and simple, then by contrasting with otherprecise search strategy, the consequence proves that the improved the algorithm ofmission allocation guarantees the optimal of the mission distribution.After software calculation and simulation, the results confirm the feasibility ofthe algorithm in every part of the system and demonstrate the designed content canrealize the establishment of the UAV system based on Agent, provide a greattheoretical basis for the future realization of the actual UAV battle synergy.