A Relative Coordinate-Based Topology Shaping Method for UAV Swarm with Low Computational Complexity

Yanxiang Yang,Kaiyu Qin,Bo Li,Jiayi Zhou,Xiangyin Zhang

doi:10.3390/app12052631

Yanxiang Yang, Kaiyu Qin + Show 3 more

Open Access

https://doi.org/10.3390/app12052631

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Abstract

Functional topology shaping is crucial for unmanned aerial vehicles (UAVs) swarm applications, such as remote sensing, precision agriculture, and emergency wireless communication. However, the current research on topology shaping is mostly based on the assumption that the target positions of the nodes are known or have been pre-defined. Moreover, the computational complexity of existing shaping methods is still high. In this paper, a topology shaping method based on a relative coordinate system is proposed to solve the problem of UAV swarm topology shaping with no external source of localization information. Based on the relative coordinates of nodes and target topology shape of the swarm, the topology shaping is transformed into a problem of optimal coordinate mapping from initial relative coordinates to target relative coordinates of nodes with minimized global energy consumption. The Jonker–Volgenant algorithm is employed to solve the optimization problem. As verified by simulations, the proposed method can achieve UAV swarm topology shaping with no external localization information. Furthermore, simulation results show that the proposed method has an average reduction in computation time of 94% in the case of 1000 nodes compared with existing methods with the same level of global energy consumption.

Highlights

The unmanned aerial vehicle (UAV) swarm, first introduced by Schiller et al in 1993 [1], is an intelligent cooperative system that provides the advantages of multi-functional integration, flexible adaptation to dynamic scenarios and increased mission efficiency compared with traditional single unmanned aerial vehicles (UAVs) platforms [2,3]
The topology shaping method is the significant basis of functional topology construction in UAV swarm applications
An LAPJV-based topology shaping method is proposed for the UAV swarm system

Summary

Introduction

The unmanned aerial vehicle (UAV) swarm, first introduced by Schiller et al in 1993 [1], is an intelligent cooperative system that provides the advantages of multi-functional integration, flexible adaptation to dynamic scenarios and increased mission efficiency compared with traditional single UAV platforms [2,3]. The system capabilities of a UAV swarm rely on the functional topology [16]. The functional topology of a UAV swarm is always mission-oriented, which calls for the swarm system to dynamically and rapidly form a functional topology adapted to new scenarios and mission requirements [18]. In the case of multi-mission scenarios, the UAV swarm needs to achieve the required functional topology for specified missions, which highlights the significance of the functional topology construction method [19]

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Results

Conclusion