| Autor: |
Yan Wu, Mingtao Nie, Xiaolei Ma, Yicong Guo, Xiaoxiong Liu |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
Drones, Vol 7, Iss 10, p 606 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2504-446X |
| DOI: |
10.3390/drones7100606 |
| Popis: |
Multi-UAV cooperative path planning is a key technology to carry out multi-UAV tasks, and its research has important practical significance. A multi-UAV cooperative path is a combination of single-UAV paths, so the idea of problem decomposition is effective to deal with multi-UAV cooperative path planning. With this analysis, a multi-UAV cooperative path planning algorithm based on co-evolution optimization was proposed in this paper. Firstly, by analyzing the meaning of multi-UAV cooperative flight, the optimization model of multi-UAV cooperative path planning was given. Secondly, we designed the cost function of multiple UAVs with the penalty function method to deal with multiple constraints and designed two information-sharing strategies to deal with the combination path search between multiple UAVs. The two information-sharing strategies were called the optimal individual selection strategy and the mixed selection strategy. The new cooperative path planning algorithm was presented by combining the above designation and co-evolution algorithm. Finally, the proposed algorithm is applied to a rendezvous task in complex environments and compared with two evolutionary algorithms. The experimental results show that the proposed algorithm can effectively cope with the multi-UAV cooperative path planning problem in complex environments. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
