Title: Formation control of multiple UAVs via pigeon inspired optimisation

Authors: Bai Tingting; Wang Dao Bo; Zain Anwar Ali; Suhaib Masroor

Addresses: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China ' College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China ' School of Systems Science, Beijing Normal University, Zhuhai, China ' Bio-Medical Engineering Department, Sir Syed University of Engineering and Technology, Karachi, Pakistan

Abstract: A distributed coordinated control is proposed for the group of UAVs to map the behaviour rule for the pigeon group. Moreover, on the basis of pigeon inspired optimisation (PIO), the UAV groups are clustered and synchronised through the coordinated control algorithm. To control the speed, direction of nth UAVs for the desired formation of flight are controlled by proportional integral (PI) and proportional integral differential (PID) controller. A high degree of convergence control method is presented to control the UAV groups at the same level of height during formation of flight. On the basis of pigeon flight obstacle avoidance, a method of UAV obstacle avoidance is designed, and a method of obstacle obstructing is also designed along with the improved artificial physical method. The proposed methodology provides obstacle avoidance for a group of UAV and overcome traditional physical methods, and can easily make the desired formation in which sudden obstacles lie in the way of formation through the arrow channel.

Keywords: pigeon inspired optimisation; PIO; unmanned aerial vehicle; pigeon behaviour and coordinated control.

DOI: 10.1504/IJBIC.2022.123106

International Journal of Bio-Inspired Computation, 2022 Vol.19 No.3, pp.135 - 146

Accepted: 21 May 2020
Published online: 30 May 2022 *

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