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Bio-inspired adaptive formation tracking control for swarm systems with application to UAV swarm systems
Neurocomputing ( IF 6 ) Pub Date : 2021-05-07 , DOI: 10.1016/j.neucom.2021.05.015
Yuxin Xie , Liang Han , Xiwang Dong , Qingdong Li , Zhang Ren

Adaptive formation tracking problems for swarm systems with multiple leaders and switching topologies are studied in this paper. It is required that the followers form time-varying formations and track the positions of the leaders simultaneously, where the bio-inspired adaptive formation tracking control method is originated from the grey wolves with strict hierarchy and flexible communication structure. First, the grey wolf tracking strategy with four steps, including of level division, locating the prey, following the leaders, and encircling, is applied to swarm systems. Second, the adaptive formation tracking control protocol using neighboring relative state information is designed for swarm systems to achieve the adaptive formation tracking with switching topologies. Finally, the experiments of Unmanned Aerial Vehicle (UAV) swarm systems are performed using the visible simulation platform based on the Robot Operating System (ROS) and Gazebo to verify the adaptive formation tracking method. Inspired from the grey wolf tracking strategy, the adaptive formation tracking control method has been proposed, which improves the system stability and precision of the formation tracking.



中文翻译:

应用于生物群系统的生物启发式自适应编队跟踪控制及其在无人机群系统中的应用

本文研究了具有多个领导者和切换拓扑的群体系统的自适应编队跟踪问题。要求追随者形成随时间变化的阵型并同时跟踪领导者的位置,其中以生物启发的自适应阵型跟踪控制方法源于具有严格等级制度和灵活通信结构的灰狼。首先,将具有四个步骤的灰狼跟踪策略应用于群体系统,其中包括以下四个步骤:级别划分,定位猎物,跟随领导者以及环绕。其次,针对群体系统设计了使用相邻相对状态信息的自适应编队跟踪控制协议,以实现具有切换拓扑的自适应编队跟踪。最后,利用基于机器人操作系统(ROS)和凉亭的可视化仿真平台进行了无人机群系统的实验,验证了自适应编队跟踪方法。从灰太狼跟踪策略的启发,提出了一种自适应编队跟踪控制方法,提高了编队跟踪的系统稳定性和精度。

更新日期:2021-05-07
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