Open Access
Table 1
Update state transition probability for UAV swarm algorithm.
| Algorithm: Update State Transition Probability for UAV Swarm |
| Input: UAV swarm state set S={s1,s2,...,sn} (where si contains position pi, velocity vi, acceleration ai); Initial mode transition probability matrix P; Equilibrium distance parameter δ=10m; Interaction force influence coefficient γ=0.5 Output: Modified mode transition probability matrix P ′ 1: Initialize the modified probability matrix: P ′ = Copy(P) 2: Initialize an n×n zero matrix for interaction forces: F = ZeroMatrix(n, n) 3: For i from 1 to n: 4:......For j from 1 to n (where j ≠ i): 5:.........Calculate relative position vector: rij = pj - pi 6:.........Calculate relative distance: dij = Norm(rij) 7:.........Calculate cosine of relative velocity angle: cosθ = DotProduct(vi, vj) / (Norm(vi) * Norm(vj) + 1e-6) 8:.........Compute attractive force component: Fatt = 0.1 * (dij / δ) 9:.........Compute repulsive force component: Frep = 0.8 * (δ / d_ij) 10:.........Calculate group potential field interaction force: Fij = (Fatt - Frep) * cosθ * (rij / dij) 11:.........Assign interaction force to matrix: F[i][j] = Fij 12: For each row index row in P ′ : 13:......For each column index col in P ′: 14:.........Calculate average interaction force norm for UAV i: avgF = Mean(Norm(F[i])) 15:.........Modify transition probability (clamp to avoid exceeding 1): P ′[row][col] = Min(P[row][col] * (1 + γ * avgF / δ), 0.99) 16: Return P ′ |
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