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Outline
This research proposes an adaptive avoidance decision-making mechanism that combines safety assessment with pigeon-inspired optimization (PIO) to enhance the collision avoidance capabilities and coordination efficiency of unmanned aerial vehicle (UAV) swarms operating in complicated environments. A multidimensional safety evaluation index system is constructed by analyzing both local conflict risks and the overall coordination level of the swarm. Principal component analysis is employed to derive a comprehensive safety score, based on which a three-stage avoidance control strategy is formulated. An artificial potential field function with adaptively tuned parameters is designed according to the safety score, enabling responsive and autonomous individual-level control. Furthermore, to improve global cooperative avoidance under high-risk scenarios, the improved PIO algorithm is embedded to jointly optimize the velocity direction and avoidance parameters of swarm members. The effectiveness and resilience of the suggested strategy in dynamic contexts are validated by simulation findings, which show that it dramatically lowers the likelihood of local conflicts while preserving swarm cohesion.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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