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《Journal of The Franklin Institute》2023,360(4):3047-3076
In this paper, six-rotor UAVs are used in the field of distribution to realize the delivery of materials arriving the demand point by UAVs. Due to the small load capacity of the six-rotor UAV, in response to actual demand, the UAV group will be used to complete the delivery task. Considered to be close to the real requirements, trajectory constraints and dynamic obstacles are established in the trajectory planning based on group perception range. In order to better deal with dynamic obstacles and related constraints, this paper designs a distributed adaptive algorithm based on individual decision-making and group decision-making. Individual decision-making is embodied in the intelligence and adjustment of UAVs, involving actor-critic methods, artificial potential field method ideas and probability finite state machines; group decision-making is embodied in the leadership mechanism and joint decision-making; self-adaptation is embodied in the adaptive adjustment of UAV level in group. In order to avoid collisions between UAV groups, a conflict resolution algorithm is designed. Through simulation analysis, the distributed adaptive algorithm proposed in this paper can not only satisfy all constraints, avoid dynamic obstacles stably, and complete tasks with small fluctuations, but also obtain the most successful decision-making UAV in the group. This article further analyzes and discusses the relevant parameters in the algorithm, and obtains the optimal parameter ranges in individual decision-making and group decision-making. 相似文献
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学生个体差异的增大往往给学校的教学带来诸多困难,针对不同层次的教学需要,采取分层次教学有利于提高教学质量。不仅探讨小班分层次教学的理论基础及指导思想,而且就其实践和建议也作以论述和分析。 相似文献
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