Pigeon-inspired optimisation algorithm with hierarchical topology and receding horizon control for multi-UAV formation
Yankai Shen, Yiming Deng · International Journal of Bio-Inspired Computation · 2021
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.