粒子群优化
有效载荷(计算)
群体行为
计算机科学
多群优化
控制器(灌溉)
数学优化
算法
人工智能
数学
农学
计算机网络
生物
网络数据包
作者
Aniket Gupta,Aman Virmani,Parth Mahajan,Raghava Nallanthigal
标识
DOI:10.1109/icara51699.2021.9376529
摘要
This paper presents a decentralized method for multi-target search problem using a swarm of unmanned aerial vehicles with the information available from the onboard sensors. The proposed method deals with three main objectives: Time optimized multi-target search, optimized payload drops and inter-UAV collision avoidance which is independent of the number of UAVs. The proposed controller uses a modified Particle Swarm Optimization for cooperative multi-target search and is called Multi-Target Particle Swarm Optimization (MTPSO). The controller's performance is evaluated on Ardupilot's SITL platform for realistic simulations in various case-scenarios. Moreover, the performance of the controller with various inertial functions is also analyzed for different case-scenarios. Finally, the effectiveness of the proposed algorithm is illustrated by comparison with existing search methods.
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