Cooperative localisation of UAV swarm based on adaptive SA-PSO algorithm

Abstract

In this paper, to address the cooperative localisation of a heterogeneous UAV swarm in the GNSS-denied environment, an adaptive simulated annealing-particle swarm optimisation (SA-PSO) cooperative localisation algorithm is proposed. Firstly, the forming principle of the communication and measurement framework is investigated in light of a heterogeneous UAV swarm composition. Secondly, a reasonably cooperative localisation function is established based on the proposed forming principle, which can minimise the relative localisation error with limited available information. Then, an adaptive weight principle is incorporated into the particle swarm optimisation (PSO) for better performance. Furthermore, in order to overcome the drawbacks of PSO algorithm easily falling into the local extreme point, an adaptive SA-PSO algorithm is improved to promote the convergence speed of cooperative localisation. Finally, comparative simulations are performed among the adaptive SA-PSO, adaptive PSO, and PSO algorithms to demonstrate the feasibility and superiority of the proposed adaptive SA-PSO algorithm. Simulation results show that the proposed algorithm has better performance in convergence speed, and the cooperative localisation precision can be guaranteed.

Enhanced QoS Routing Protocol for an Unmanned Ground Vehicle, Based on the ACO Approach

“…We analyze the suggested public road fragment QoS before comparing it to several versions of the global routing protocols (CAR [ 10 ], GSR [ 20 ]) and assisted routing protocols (EIGRP [ 21 ], SADV [ 12 ]). To further understand the benefits of the suggested model, we define the VANET-ACO as a modified VANET, in which the tracking route choices are studied for the terminal-per-terminal vehicles network rather than the ST-per-DT.…”

“…The V2X routing protocol for the VANETs was intensively researched [ 16 , 17 , 18 ]. The V2X routing protocol predicts a series of valid intersections to transfer the data packets from the firefighting UGVs to each other and the fixed infrastructures in the urban situations [ 19 , 20 , 21 ]. These links are calculated using the geographic locations, the speed, acceleration, and the vector direction of the UGV.…”