The invention provides an unmanned aerial vehicle multi-target path
planning method based on a multi-target
sheep flock migration
algorithm. The method comprises the following steps: 1, constructing a three-dimensional model of a task environment: 1.1, constructing a grid-based three-dimensional task
space model; 1.2, determining
collision probability distribution; 2, initializing
algorithm parameters and populations; 2.1, initializing multi-target
sheep flock migration
algorithm parameters; 2.2, randomly generating an initial
population in the task area range; 3, performing non-dominated sorting on the
population, and selecting head sheep; 3.1, calculating an objective function value of each sheep; 3.2, determining a
Pareto optimal solution set by adopting non-dominated sorting; 3.3, selecting the sheep with the largest
crowding distance as the head sheep; 4, executing a
grazing operator; 5, judging and executing a migration operator or a contraction operator; 5.1, if the optimal solution of the group is updated, executing the migration operator; 5.2, if the optimal solution of the group is not updated, executing a contraction operator; and 5, judging whether the maximum number of iterations is reached or not, if so, outputting an optimal path planning solution, and otherwise, returning to the step 3.