Multi-uav cooperative target tracking path planning method based on spider wasp optimization algorithm

Abstract

The present application belongs to the technical field of unmanned aerial vehicle cluster control, and particularly relates to a multi-unmanned aerial vehicle cooperative target tracking path planning method based on a spider wasp optimization algorithm. The method comprises the following steps: (1) establishing a mathematical constraint model of a flight path; (2) constructing an evaluation function according to the mathematical constraint model, including a fitness function and a total distance length; (3) based on the spider peak optimization algorithm, solving the evaluation function, and constantly iterating, calculating and comparing to obtain an optimal solution or an approximate optimal solution, i.e. an optimal path; and (4) distributing the optimal path to each unmanned aerial vehicle for execution. The present application simulates the predatory behavior of spiders and the social behavior of bees, realizes efficient path planning of multi-unmanned aerial vehicles in cooperative target tracking in a complex three-dimensional environment, improves the flight efficiency and safety of unmanned aerial vehicle clusters, and enhances the adaptability of unmanned aerial vehicle clusters in complex environments.

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