Resilience based self-organizing region coverage method for unmanned aerial vehicle swarm
To improve the success rate of unmanned aerospace vehicle(UAV)swarm performing coverage task,a distributed self-organizing coverage method is proposed.This method is based on three virtual forces,namely individual UAV interaction force,boundary repulsive force,and attraction of key areas.Then,the influence of failure of UAVs is taken into account.A resilience index is incorporated into the coverage threshold adjustment mechanism.Simulation experiments show that the proposed method can provide a more sufficient coverage of the target area and key areas.After the swarm failed or damaged,the proposed method is able to recover quickly in a self-adaptive manner,and achieve a higher mission success rate.
万方数据
维普
