Combined PSO Methods for UAVs Swarm Modelling and Simulation

摘要

In this paper selected methods used for Unmanned Aerial Vehicles (UAVs) swarm simulation are presented. Proposed approach is based on Particle Swarm Optimization algorithm applied for a search problem in a large-scale terrain with enhancements like collision avoidance, leadership or formation arrangement mechanisms. The uniqueness of proposed work relies on appliance these mechanisms (separately or in combined way) to the PSO algorithm, whereas they have not been designed in the presented manner. Moreover, the mechanisms are meant to keep the PSO algorithm idea and its simplicity. The UAVs swarm simulation is performed in original distributed simulation environment (built completely from the scratch) with the alternative communication provided by DIS or HLA protocols. The environment consists of a constructive component (responsible for multiagent and multiresolution modelling) for UAVs behaviours simulation and the VBS3 virtual simulator handling 3D visualizations and another objects control.