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Optimal trajectories of multi-UAVs with approaching formation for target tracking using improved Harris Hawks optimizer

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Abstract

In this paper, we propose an improved Harris hawks optimizer (IHHO) to track remote targets and study the influence of the relative range on optimal multi-UAV trajectories. First, the receding horizon control (RHO) method is utilized as a framework to plan the optimal trajectories of UAVs, the purpose of which is to minimize the uncertainty of target state estimation with performance constraints and risk (stay out) constraints. Second, the IHHO algorithm, with the advantages of strong global search ability and good stability, is presented to solve the RHO formulation. Moreover, the influence of the relative range on the optimal trajectory for multiple UAVs is analyzed. Finally, the proposed method is simulated with multiple UAVs, and the trend of the optimal trajectory is summarized. The results show that the proposed IHHO provides the best value in more than 80% of cases and the lowest deviations in more than 90% of cases compared to other methods. The simulation results validate the effectiveness of the proposed method, and the trends in coordinated reconnaissance can provide a helpful reference for designing multi-UAV control laws with optimal observation trajectories.

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Acknowledgements

The authors would like to express their acknowledgement for the support from the National Natural Science Foundation of China (No. 61773395). We also acknowledge the efforts and constructive comments of anonymous reviewers and respected editor for handling this research.

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Authors and Affiliations

  1. College of Weaponry Engineering, Naval University of Engineering, Wuhan, 430033, China

    Haoran Shi, Faxing Lu, Ling Wu & Guang Yang

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  1. Haoran Shi
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  2. Faxing Lu
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  3. Ling Wu
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  4. Guang Yang
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Correspondence to Haoran Shi.

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Shi, H., Lu, F., Wu, L. et al. Optimal trajectories of multi-UAVs with approaching formation for target tracking using improved Harris Hawks optimizer. Appl Intell 52, 14313–14335 (2022). https://doi.org/10.1007/s10489-022-03270-4

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  • DOI: https://doi.org/10.1007/s10489-022-03270-4

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