Zhao T F, Gao P, Shi H Q, et al. An algorithm for the bee colony drone to use wireless ultraviolet for cooperative obstacle avoidance[J]. Opto-Electron Eng, 2020, 47(3): 190505. doi: 10.12086/oee.2020.190505
Citation: Zhao T F, Gao P, Shi H Q, et al. An algorithm for the bee colony drone to use wireless ultraviolet for cooperative obstacle avoidance[J]. Opto-Electron Eng, 2020, 47(3): 190505. doi: 10.12086/oee.2020.190505

An algorithm for the bee colony drone to use wireless ultraviolet for cooperative obstacle avoidance

    Fund Project: Supported by National Natural Science Foundation of China (61971345, U1433110), Shaanxi Provincial Department of Education Service Local Special Project (17JF024), Xi'an Science Project (CXY1835(4)), Shaanxi Provincial Key Industry Chain Innovation Project (2017ZDCXL-GY-05-03), and Xi'an Beilin District Science and Technology Plan Project (GX1921)
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  • For complex battlefield environments, it is especially important to ensure the safety of flight between UAV formations and reliable communication within the formation. This paper proposes an algorithm for collaborative avoidance using wireless ultraviolet light between drones in a bee colony drone formation. Combined with the above algorithm and using the characteristics of wireless ultraviolet light coverage, the avoidance strategy of ultraviolet virtual fence is designed. And by enhancing the vector field histogram method to improve the cost function of the state of motion of the drone when performing mutual avoidance. In addition, the algorithm uses the Unscented Kalman Filter to predict the flight status of nearby Uninhabited Aerial Vehicles. The simulation results show that in the avoidance simulations of the two prediction scenarios, the overall motion trajectory of this algorithm is smoother than that of the enhance vector field histogram method. At the same time, there is no obvious jitter when local avoidance occurs, the total length of the avoidance path is reduced by 3.46% on average, and the total time consumption is reduced by 18.94%. This verifies that the wireless ultraviolet cooperative avoidance algorithm in a bee colony drone formation is effective.
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  • Overview: Uninhabited aerial vehicles (UAVs) are widely used not only in civil fields such as power inspection and environmental monitoring, but also in military applications such as reconnaissance, surveillance and confusion. The drone "bee colony" is composed of a group of small unmanned aerial vehicles that work together independently. It has excellent features such as low cost, high damage resistance, good sensing ability, strong collaboration ability and functional distribution, which can improve the efficiency of completing task. In the complex electromagnetic environment of the battlefield, it is especially important to ensure the flight safety between the formation of the drone group and the reliable communication within the formation. The advantages of wireless ultraviolet communication mainly include small background noise, strong anti-electromagnetic interference capability, all-weather non-direct view communication, low power consumption, high integration, easy to load, etc., which can meet the communication requirements in this environment.

    This paper proposes an algorithm for collaborative avoidance using wireless ultraviolet light between drones in a bee colony drone formation. Through combining avoidance algorithm with the characteristics of wireless ultraviolet light coverage, a wireless ultraviolet virtual fence avoidance strategy is proposed. Considering the relationship between the enhanced vector field histogram method and its own motion state to improve the cost function and verify the effectiveness of the avoidance algorithm. The unscented Kalman filter predictor is used to predict the flight state of the adjacent drone in order to achieve safe and efficient avoidance. Through computer simulation in two prediction scenarios, the results show that the improved enhanced vector field histogram method has smooth overall motion trajectory and good avoidance effect. Compared with the original algorithm, this algorithm has no obvious jitter when it is partially avoided, the turning arc is large and there is no sharp turn. It is more suitable for the actual application and reduces the path length and time consumption. In summary, in the complex battlefield environment, the bee swarm drone can not only use airborne wireless ultraviolet equipment to achieve stable network communication, it can also use improved enhanced vector field methods based on wireless ultraviolet light to enable efficient avoidance between drones in a bee colony drone formation.

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