Formation reconfiguration based on distributed cooperative coevolutionary for multi-UAV

Due to the discretization of the multi-UAV formation reconfiguration process, it is a high-dimensional optimization problem, resulting in the reduction of efficiency and effectiveness for traditional bio-inspired algorithms. In this paper, a distributed cooperative coevolutionary algorithm named DECCG-V is proposed to reduce the dimension of the problem. DECCG-V divides the control parameters which will be optimized into several subgroups, and this mechanism facilitates the UAVs' control inputs optimization fully distributed and in parallel. It can be concluded from the experiment that DECCG-V performs a better performance than the existing approach (PSO and DE).