Multi-unmanned aerial vehicle cooperative airway planning method based on improved sheep flock algorithm

Abstract

The invention provides a multi-unmanned aerial vehicle cooperative airway planning method based on an improved sheep flock algorithm. The multi-unmanned aerial vehicle cooperative airway planning method comprises the steps of: firstly, carrying out mathematical modeling on cooperative airway planning of a plurality of unmanned aerial vehicles under the condition that the plurality of unmanned aerial vehicles conduct cooperative attack on a known target; secondly, proposing an improved sheep flock optimization algorithm for solving the airway planning problem, so as to obtain a three-dimensional cooperative airway meeting the planning requirements; and finally, by comparing with other algorithms, carrying out benchmark function testing and simulation experiments, and verifying the effectiveness of the method. The multi-unmanned aerial vehicle cooperative airway planning method can remarkably improve the optimal solution quality and convergence rate, is simple in principle, and is not limited by the space size and potential parallelism.

Description

technical field [0001] The invention relates to the field of UAV route planning, in particular to a multi-UAV collaborative route planning method based on an improved herd algorithm. Background technique [0002] With the development and maturity of UAV technology and the continuous improvement of intelligence level, UAV will become the leader of the sky in the future and the main equipment of the armed forces of all countries in the world, and has great combat potential on the future battlefield. In the informationized, networked and systematic modern warfare, in the face of rapid development, relying on a single UAV to perform intelligence reconnaissance, battlefield strikes and other tasks are far from meeting the current mission requirements, using multiple UAVs to perform Combat missions targeting multiple targets have become an inevitable trend. [0003] Multi-UAV collaborative route planning is a key technology for multiple UAVs to achieve cooperative operations. The...

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Problems solved by technology

[0004] Aiming at the unreliable quality of the optimal solution and the unsatisfactory convergence speed of the traditional swarm intelligence algorithm, the present invention establishes a multi-constraint route planning model based on the characteristics of multi-UAV cooperative route planning, and proposes a multi-constraint algorithm based on the improved herd algorithm. UAV cooperative route planning method, which has the advantages of simple algorithm principle, fast planning speed, and not limited by space size and potential parallelism

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