ALFWA-Based 3D Damaged Formation Reconfiguration Method of Patrol Multi-UAV

The multi-UAV formation reconfiguration problem is studied in this paper. A new fireworks algorithm enhanced strategy is proposed. The resilience model is used to characterize the robustness of the patrol multi-UAV formation against unrecoverable damage. In the process of resilience modeling, the image processing method is used to calculate the effective extremely irregular perceptual area of the formation. The fireworks operator is used to quantify the influence of the position change of each UAV on the resilience of the multi-UAV formation, and then the explosion operator is used to generate a new round of fireworks near the optimal fireworks position until the optimization operation is completed. Addressing the local optimal problem of the complex optimization problems of traditional fireworks algorithms, the setting rules of adaptive learning strategy to optimize the explosion range were introduced into the explosion operator be called ALFWA. The simulation results show the effectiveness of the proposed method.