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Chinese Journal of Aeronautics 2020年第11期33卷 2877-2897页

作者： Yingxun WANG Tian ZHANG Zhihao CAI Jiang ZHAO Kun WU School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Flying College Beihang UniversityBeijing 100083China

The paper proposes a new swarm intelligence-based distributed Model Predictive Control(MPC)approach for coordination control of multiple Unmanned Aerial Vehicles(uavs).First,a distributed MPC framework is designed and each member only shares the information with *** Chaotic Grey Wolf Optimization(CGWO)method is developed on the basis of chaotic initialization and chaotic search to solve the local Finite Horizon Optimal Control Problem(FHOCP).Then,the distributed cost function is designed and integrated into each FHOCP to achieve multi-uav formation control and trajectory tracking with no-fly zone ***,an event-triggered strategy is proposed to reduce the computational burden for the distributed MPC approach,which considers the predicted state errors and the convergence of cost *** results show that the CGWO-based distributed MPC approach is more computationally efficient to achieve multi-uav coordination control than traditional method.

关键词： Chaotic Grey Wolf Optimization(CGWO) Coordination control Distributed Model Predictive Control(MPC) Event-triggered strategy multi-uav

Intelligent Task Offloading and Collaborative Computation in multi-uav-Enabled Mobile Edge Computing

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China Communications 2022年第4期19卷 244-256页

作者： Jingming Xia Peng Wang Bin Li Zesong Fei Nanjing University of Information Science and Technology Nanjing 210044China Beijing Institute of Technology Beijing 100081China

This article establishes a three-tier mobile edge computing(MEC) network, which takes into account the cooperation between unmanned aerial vehicles(uavs). In this MEC network, we aim to minimize the processing delay of tasks by jointly optimizing the deployment of uavs and offloading decisions,while meeting the computing capacity constraint of uavs. However, the resulting optimization problem is nonconvex, which cannot be solved by general optimization tools in an effective and efficient way. To this end, we propose a two-layer optimization algorithm to tackle the non-convexity of the problem by capitalizing on alternating optimization. In the upper level algorithm, we rely on differential evolution(DE) learning algorithm to solve the deployment of the uavs. In the lower level algorithm, we exploit distributed deep neural network(DDNN) to generate offloading decisions. Numerical results demonstrate that the two-layer optimization algorithm can effectively obtain the near-optimal deployment of uavs and offloading strategy with low complexity.

关键词： mobile edge computing multi-uav collaborative cloud and edge computing deep neural network differential evolution

New multi-uav formation keeping method based on improved artificial potential field

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Chinese Journal of Aeronautics 2023年第11期36卷 249-270页

作者： Hanlin SHENG Jie ZHANG Zongyuan YAN Bingxiong YIN Shengyi LIU Tingting Bai Daobo WANG College of Energy and Power Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Formation keeping is important for multiple Unmanned Aerial Vehicles(multi-uav)to fully play their roles in cooperative combats and improve their mission success ***,in practical applications,it is difficult to achieve formation keeping precisely and obstacle avoidance autonomously at the same *** paper proposes a joint control method based on robust H∞ controller and improved Artificial Potential Field(APF)***,we build a formation flight model based on the “Leader-Follower”structure and design a robust H∞ controller with three channels X,Y and Z to eliminate dynamic uncertainties,so as to realize high-precision formation ***,to fulfill obstacle avoidance efficiently in complex situations where uavs fly at high speed with high inertia,this paper comes up with the improved APF method with deformation factor *** judgment criterion is proposed and applied to ensure flight *** the end,the simulation results show that the designed controller is effective with the formation keeping a high accuracy and in the meantime,it enables uavs to avoid obstacles autonomously and recover the formation rapidly when coming close to ***,the method proposed here boasts good engineering application prospect.

关键词： Formation flight Artificial potential field(APF) multi-uav Trajectory planning Flight control systems

A hierarchical multi-uav cooperative framework for infrastructure inspection and reconstruction

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Control Theory and Technology 2024年第3期22卷 394-405页

作者： Chuanxiang Gao Xinyi Wang Xi Chen Ben M.Chen Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongShatinNTChina

Unmanned aerial vehicles(uavs)are emerging as a powerful tool for inspections and repair works in large-scale and unstructured 3D infrastructures,but current approaches take a long time to cover the entire *** using uavs for inspections and repair works puts forward a requirement of improving time efficiency in large-scale and cluster *** paper presents a hierarchical multi-uav cooperative framework for infrastructure inspection and reconstruction to balance the workload and reduce the overall task completion *** proposed framework consists of two stages,the exploration stage and the exploitation stage,resolving the task in a sequential *** the exploration stage,the density map is developed to update global and local information for dynamic load-balanced area partition based on reconstructability and relative positions of uavs,and the Voronoi-based planner is used to enable the uavs to reach their best *** obtaining the global map,viewpoints are generated and divided while taking into account the battery capacity of each ***,a shortest path planning method is used to minimize the total traveling cost of these viewpoints for obtaining a high-quality *** experiments are conducted in both a simulated and real environment to show the time efficiency,robustness,and effectiveness of the proposed ***,the whole system is implemented in real applications.

关键词： multi-uav Coverage path planning Infrastructure inspection and reconstruction

Joint Subcarrier and Power Allocation for multi-uav Systems

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China Communications 2019年第1期16卷 47-56页

作者： Xin Guan Yang Huang Qingjiang Shi College of Electronic and Information Engineering Nanjing University of Aeronautics and Astronautics Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space(NUAA) Ministry of Industry and Information Technology School of Software Engineering Tongji University

This paper investigates subcarrier and power allocation in a multi-uav OFDM *** study considers a practical scenario,where certain subcarriers are unavailable for dynamic subcarrier allocation,on account of pre-allocation for burst *** first propose a novel iterative algorithm to jointly optimize subcarrier and power allocation,so as to maximize the sum rate of the uplink transmission in the multiuav OFDM *** key idea behind our solution is converting the nontrivial allocation problem into a weighted mean square error(MSE) *** this means,the allocation problem can be solved by the alternating optimization ***,aiming at a lower-complexity solution,we propose a heuristic allocation scheme,where subcarrier allocation and transmit power allocation are separately *** the heuristic scheme,closedform solution can be obtained for power *** results demonstrate that in the presence of stretched subcarrier resource,the proposed iterative joint optimization algorithm can significantly outperform the heuristic scheme,offering a higher sum rate.

关键词： multi-uav OFDM subcarrier allocation power allocation alternating optimization weighted MSE

multi-uav Synchronous Approaching Using Homotopy-Based Trajectory Planning

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Guidance, Navigation and Control 2022年第2期2卷 99-124页

作者： Weiran Yao Yang Chen Haoyu Tian Chengwei Wu Ligang Wu School of Astronautics Harbin Institute of Technology Harbin 150001P.R.China College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin 150001P.R.China

Synchronous approaching is an important capability for autonomous cooperation of multiple unmanned aerial vehicles(uavs).In this paper,a homotopy-based trajectory planning method is presented for the multi-uav synchronous approaching problem.A homotopic trajectory description is employed to construct the trajectory solution space of the uavs.A novel onionlike homotopy structure is proposed to decouple the performance indexes of the trajectory planning *** trajectory homotopy structures are designed based on the detouring model and the hovering model of *** optimal trajectories for synchronous approaching are searched within the homotopy *** results show how synchronous the uavs are,by using the proposed homotopy-based trajectory planning method.

关键词： multi-uav synchronous approaching homotopic method trajectory planning

multi-uav Distributed Collaborative Coverage for Target Search Using Heuristic Strategy

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Guidance, Navigation and Control 2021年第1期1卷 25-48页

作者： Kai Zhu Bin Han Tao Zhang Department of Automation Tsinghua UniversityHaidianBeijing 100084P.R.China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhanHubei 430000P.R.China Beijing National Research Center for Information Science and Technology Tsinghua UniversityHaidianBeijing 100084P.R.China

Collaborative coverage for target search using a group of unmanned aerial vehicles(uavs)has received increasing attention in recent ***,the design of distributed control strategy and coordination mechanisms remains a *** paper presents a distributed and online heuristic strategy to solve the problem of multi-uav collaborative *** a basis,each uav maintains a probability grid map in the form of a locally stored matrix,without shared *** we design two evaluation functions and related technical strategies to enable uavs to make state transfer or area transfer decisions in an online self-organizing *** simulation results show that the algorithm integrates geometric features such as parallel search and internal spiral search,and is not interfered by factors such as sudden failure of uavs,changes in detection range,and target *** with other commonly used methods for target search,our strategy has high search e±ciency,good robustness,and fault tolerance.

关键词： multi-uav distributed control target search self-organization heuristic

Distributed On-line Path Planner for multi-uav Coordination Using Bi-level Programming

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Distributed On-line Path Planner for Multi-UAV Coordination ...

multi-uav Cooperative GPS Spoofing Based on YOLO Nano

第25届中国控制与决策会议

作者： Wei Liu Zheng Zheng Kai-Yuan Cai School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University Xi'an High Technology Institute

ISBN: (纸本)9781467355339

This paper presents a novel on-line path planner for multiple uavs based on the distributed planning scheme and the bi-level programming technique, in the presence of diverse surface-to-air missiles （SAMs） deployed within large operational spaces. With a formal problem formulation, the planner offers a hierarchical architecture that not only provides global convergence and optimized solution for the uav team, but also guarantees the path safety and navigability for each uav according to their respective requirements. Constraints with respect to complex threat environment avoidance, uavs’ physical attributes and real-time capabilities of airborne equipment are all fully considered in the planning procedure. Simulation results prove that the proposed planner is capable of generating synthetically optimal flight paths for multi-uav, along with the path safety and smoothness improvement in local for each individual uav.

关键词： Cooperative Path Planning Unmanned Aerial Vehicles multi-uav Bi-level Programming

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Journal of Cyber Security 2021年第2期3卷 69-78页

作者： Yongjie Ding Zhangjie Fu Engineering Research Center of Digital Forensics Ministry of EducationNanjing University of Information Science and TechnologyNanjing210044China College of Information Science and Technology College of Cyber SecurityJinan UniversityGuangzhou510632China

In recent years,with the rapid development of the drone industry,drones have been widely used in many fields such as aerial photography,plant protection,performance,and *** effectively control the unauthorized flight of drones,using GPS spoofing attacks to interfere with the flight of drones is a relatively simple and highly feasible attack ***,the current method uses ground equipment to carry out spoofing *** attack range is limited and the flexibility is not *** on the existing methods,this paper proposes a multi-uav coordinated GPS spoofing scheme based on YOLO Nano,which can launch effective attacks against target drones with autonomous movement:First,a single-attack drone based on YOLO Nano is *** target tracking scheme achieves accurate tracking of the target direction on a single-attack drone;then,based on the single-uav target tracking,a multi-attack drone coordinated target tracking scheme based on the weighted least squares method is proposed to realize the target drone Finally,a new calculation method for false GPS signals is proposed,which adaptively adjusts the flight trajectory of the attacking drone and the content of the false GPS signal according to the autonomous movement of the target drone.

关键词： uav safety GPS spoofing multi-uav target detection

multi-uav Three-Dimensional Path Planning Based on Improved Grey Wolf Optimization Algorithm

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Multi-UAV Three-Dimensional Path Planning Based on Improved ...