Target detection for multi-UAVs via digital pheromones and navigation algorithm in unknown environments

SHAO Yan; ZHAO Zhi-feng; LI Rong-peng; ZHOU Yu-geng

doi:10.1631/FITEE.1900659

Your Location：

Home >

Browse articles >

Target detection for multi-UAVs via digital pheromones and navigation algorithm in unknown environments

Special Issue on Intelligent Unmanned Systems | Updated：2022-05-19

- Target detection for multi-UAVs via digital pheromones and navigation algorithm in unknown environments
- 基于数字信息素和领航算法的未知环境多智能体目标探测
- Frontiers of Information Technology & Electronic Engineering Vol. 21, Issue 5, Pages: 796-808(2020)
- Affiliations：
  
  College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China
  Zhejiang Lab, Hangzhou 311121, China
  Institute of Wanfeng Jinyuan Holding Group Co., Ltd., Shaoxing 312000, China
- Author bio：
  
  [ "Yan SHAO, E-mail: shaoy@zju.edu.cn" ]
  Zhi-feng ZHAO, E-mail:zhaozf@zhejianglab.com
  [ "Rong-peng LI, E-mail: lirongpeng@zju.edu.cn" ]
  [ "Yu-geng ZHOU, E-mail: yugeng.zhou@wfjyjt.com" ]
- Funds：
- DOI：10.1631/FITEE.1900659
  CLC： TP11
- Received：30 November 2019，
  
  Revised：2020-;3-31，
  
  Published：2020-05
- Accepted：
Scan QR Code
SHAO Yan, ZHAO Zhi-feng, LI Rong-peng, et al. Target detection for multi-UAVs via digital pheromones and navigation algorithm in unknown environments[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 796-808.
DOI：

SHAO Yan, ZHAO Zhi-feng, LI Rong-peng, et al. Target detection for multi-UAVs via digital pheromones and navigation algorithm in unknown environments[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 796-808. DOI： 10.1631/FITEE.1900659.

摘要

在复杂且动态性强的环境中，指导多无人机系统协调运作是一项具有挑战性的技术。基于数字信息素和当前主流无人系统控制算法，提出一种有限先验知识下多无人机系统目标探测分布式算法。通过改进不同语义数字信息素的融合算法和个体行为决策方案，提出一种更合理、有效的信息素更新机制。同时，考虑到一些个体在感知和交流方面的局限性，以及受自然界蜂拥算法启发，在Olfati-Saber无人机群控制算法基础上，设计了新的领航算法模型。此外，使用矢量信息代替传统标量信息素，使无人机群具有更高探测效率。仿真结果表明，该算法在指定区域的探测覆盖率、目标获取及回访效率、避障能力等方面都有较好表现。

Abstract

Coordinating multiple unmanned aerial vehicles (multi-UAVs) is a challenging technique in highly dynamic and sophisticated environments. Based on digital pheromones as well as current mainstream unmanned system controlling algorithms

we propose a strategy for multi-UAVs to acquire targets with limited prior knowledge. In particular

we put forward a more reasonable and effective pheromone update mechanism

by improving digital pheromone fusion algorithms for different semantic pheromones and planning individuals' probabilistic behavioral decision-making schemes. Also

inspired by the flocking model in nature

considering the limitations of some individuals in perception and communication

we design a navigation algorithm model on top of Olfati-Saber's algorithm for flocking control

by further replacing the pheromone scalar to a vector. Simulation results show that the proposed algorithm can yield superior performance in terms of coverage

detection and revisit efficiency

and the capability of obstacle avoidance.

关键词

Keywords

references

AL Alfeo , , , MGCA Cimino , , , N de Francesco , , , 等 . . Design and simulation of the emergent behavior of small drones swarming for distributed target localization . . J Comput Sci , , 2018a . . 29 19 - - 33 . . DOI: 10.1016/j.jocs.2018.09.014 http://doi.org/10.1016/j.jocs.2018.09.014 . .

AL Alfeo , , , MGCA Cimino , , , S Egidi , , , 等 . . A stigmergy-based analysis of city hotspots to discover trends and anomalies in urban transportation usage . . IEEE Trans Intell Transp Syst , , 2018b . . 19 ( ( 7 ): ): 2258 - - 2267 . . DOI: 10.1109/TITS.2018.2817558 http://doi.org/10.1109/TITS.2018.2817558 . .

AL Alfeo , , , MGCA Cimino , , , N de Francesco , , , 等 . . Swarm coordination of mini-UAVs for target search using imperfect sensors . . Intell Dec Technol , , 2018c . . 12 ( ( 2 ): ): 149 - - 162 . . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=661e213e9f363a27fc65a04830e7ff82 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=661e213e9f363a27fc65a04830e7ff82 , , . .

Y Ando , , , Y Fukazawa , , , O Masutani , , , 等 . . Performance of pheromone model for predicting traffic congestion . . Proc 5 th Int Joint Conf on Autonomous Agents and Multiagent Systems , , 2006 . . p.73 - - 80 . . DOI: 10.1145/1160633.1160642 http://doi.org/10.1145/1160633.1160642 . .

MGCA Cimino , , , M Lega , , , M Monaco , , , 等 . . Adaptive exploration of a UAVs swarm for distributed targets detection and tracking . . Proc 8 th Int Conf on Pattern Recognition Applications and Methods , , 2019 . . p.1 - - 8 . . . .

AN Dai , , , ZF Zhao , , , RP Li , , , 等 . . Evaluation mechanism of collective intelligence for heterogeneous agents group . . IEEE Access , , 2020 . . 8 28385 - - 28394 . . DOI: 10.1109/ACCESS.2020.2971278 http://doi.org/10.1109/ACCESS.2020.2971278 . .

M Dorigo , , , G di Caro , , , LM Gambardella . . Ant algorithms for discrete optimization . . Artif Life , , 1999 . . 5 ( ( 2 ): ): 137 - - 172 . . DOI: 10.1162/106454699568728 http://doi.org/10.1162/106454699568728 . .

R Eberhart , , , J Kennedy . . A new optimizer using particle swarm theory . . Proc 6 th Int Symp on Micro Machine and Human Science , , 1995 . . p.39 - - 43 . . DOI: 10.1109/MHS.1995.494215 http://doi.org/10.1109/MHS.1995.494215 . .

D Karaboga . . An Idea Based on Honey Bee Swarm for Numerical Optimization , , : : Turkey Technical Report-tr06, Erciyes University , , 2005 . . .

J Kennedy , , , R Eberhart . . Particle swarm optimization . . Proc Int Conf on Neural Networks , , 1995 . . p.1942 - - 1948 . . http://d.old.wanfangdata.com.cn/Periodical/hwyhmb201001014 http://d.old.wanfangdata.com.cn/Periodical/hwyhmb201001014 , , . .

T Kuyucu , , , I Tanev , , , K Shimohara . . Superadditive effect of multi-robot coordination in the exploration of unknown environments via stigmergy . . Neurocomputing , , 2015 . . 148 83 - - 90 . . DOI: 10.1016/j.neucom.2012.07.062 http://doi.org/10.1016/j.neucom.2012.07.062 . .

Z Liu , , , XG Gao , , , XW Fu . . A cooperative search and coverage algorithm with controllable revisit and connectivity maintenance for multiple unmanned aerial vehicles . . Sensors , , 2018 . . 18 ( ( 5 ): ): 1472 DOI: 10.3390/s18051472 http://doi.org/10.3390/s18051472 . .

B Micieta , , , M Edl , , , M Krajcovic , , , 等 . . Delegate mass for coordination and control of one-directional AGV systems: a proof-of-concept . . Int J Adv Manuf Technol , , 2018 . . 94 ( ( 1-4 ): ): 415 - - 431 . . DOI: 10.1007/s00170-017-0915-8 http://doi.org/10.1007/s00170-017-0915-8 . .

R Olfati-Saber . . Flocking for multi-agent dynamic systems algorithms and theory . . IEEE Trans Autom Contr , , 2006 . . 51 ( ( 3 ): ): 401 - - 420 . . DOI: 10.1109/TAC.2005.864190 http://doi.org/10.1109/TAC.2005.864190 . .

CW Reynolds . . Flocks, herds, and schools: a distributed behavioral model . . ACM SIGGRAPH Comput Graph , , 1987 . . 21 ( ( 4 ): ): 25 - - 34 . . DOI: 10.1145/37402.37406 http://doi.org/10.1145/37402.37406 . .

JA Sauter , , , R Matthews , , , H van Dyke Parunak , , , 等 . . Performance of digital pheromones for swarming vehicle control . . Proc 4 th Int Joint Conf on Autonomous Agents and Multiagent Systems , , 2005 . . p.903 - - 910 . . DOI: 10.1145/1082473.1082610 http://doi.org/10.1145/1082473.1082610 . .

M Senanayake , , , I Senthooran , , , JC Barca , , , 等 . . Search and tracking algorithms for swarms of robots: a survey . . Robot Auton Syst , , 2016 . . 75 422 - - 434 . . DOI: 10.1016/j.robot.2015.08.010 http://doi.org/10.1016/j.robot.2015.08.010 . .

JM Soares , , , I Navarro , , , A Martinoli . . The Khepera Ⅳ mobile robot: performance evaluation, sensory data and software toolbox . . Proc 2 nd Iberian Robotics Conf , , 2015 . . p.767 - - 781 . . DOI: 10.1007/978-3-319-27146-0_59 http://doi.org/10.1007/978-3-319-27146-0_59 . .

E Soria , , , F Schiano , , , D Floreano . . The influence of limited visual sensing on the Reynolds flocking algorithm . . Proc 3 rd Int Conf on Robotic Computing , , 2019 . . p.138 - - 145 . . DOI: 10.1109/IRC.2019.00028 http://doi.org/10.1109/IRC.2019.00028 . .

HS Su , , , XF Wang , , , ZL Lin . . Flocking of multi-agents with a virtual leader . . IEEE Trans Autom Contr , , 2009 . . 54 ( ( 2 ): ): 293 - - 307 . . DOI: 10.1109/TAC.2008.2010897 http://doi.org/10.1109/TAC.2008.2010897 . .

QR Tang , , , ZP Xu , , , FC Yu , , , 等 . . Dynamic target searching and tracking with swarm robots based on stigmergy mechanism . . Robot Auton Syst , , 2019 . . 120 103251 DOI: 10.1016/j.robot.2019.103251 http://doi.org/10.1016/j.robot.2019.103251 . .

H van Dyke Parunak , , , S Brueckner , , , J Sauter . . Digital pheromone mechanisms for coordination of unmanned vehicles . . Proc 1 st Int Joint Conf on Autonomous Agents and Multiagent Systems , , 2002 . . p.449 - - 450 . . DOI: 10.1145/544741.544843 http://doi.org/10.1145/544741.544843 . .

G Vásárhelyi , , , C Virágh , , , G Somorjai , , , 等 . . Optimized flocking of autonomous drones in confined environments . . Sci Rob , , 2018 . . 3 ( ( 20 ): ): eaat3536 DOI: 10.1126/scirobotics.aat3536 http://doi.org/10.1126/scirobotics.aat3536 . .

F Yang , , , XL Ji , , , CW Yang , , , 等 . . Cooperative search of UAV swarm based on improved ant colony algorithm in uncertain environment . . Proc IEEE Int Conf on Unmanned Systems , , 2017 . . p.231 - - 236 . . DOI: 10.1109/ICUS.2017.8278346 http://doi.org/10.1109/ICUS.2017.8278346 . .

Views

Downloads

CSCD

Alert me when the article has been cited

Submit

Tools

Publicity Resources

Four development stages of collective intelligence

APFD: an effective approach to taxi route recommendation with mobile trajectory big data

Related Author

Renbin XIAO

Wenyong ZHANG

Dawen XIA

Guoyan CHANG

Yang HU

Yujia HUO

Fujian FENG

Yantao LI

Related Institution

School of Artificial Intelligence and Automation, Huazhong University of Science and Technology

Key Laboratory of Image Information Processing and Intelligent Control, Ministry of Education

College of Data Science and Information Engineering, Guizhou Minzu University

Department of Automotive Engineering, Guizhou Traffic Technician and Transportation College

College of Computer Science, Chongqing University

Chat

Address：Zhejiang University Press, 148 Tianmushan Road, Hangzhou, China Postal code：310028
Tel：+86-571-88273162 Email：fitee@zju.edu.cn
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰