Research On Path Planning Of Multi-UAVs

As the current international situation becomes increasingly tense,unmanned Aerial Vehicle(UAV)have gradually gained attention from various countries due to their unique reconnaissance and combat advantages.This paper studies the UAV’s trajectory planning through three aspects of mission environment modeling,single UAV trajectory planning and multi-UAV coordinated trajectory planning,and develops a coordinated trajectory planning system for UAV by mixing programming with C# and MATLAB software.In the UAV task environment modeling problem,the current commonly used task environment modeling methods are analyzed,the advantages and disadvantages of each method are compared,and the voronoi diagram is used to model the UAV task execution environment.The UAV mission environment is transformed into a collection of limited track segments.The principle and construction algorithm of voronoi diagram are expounded,and then through mathematical modeling of radar,attack missile and anti-aircraft artillery threat sources,the threat degree of each threat source is quantified,and the threat cost and fuel consumption cost of each track segment are calculated.It is the basis for the subsequent trajectory planning.The problem of single UAV track planning can be divided into single target track planning and multi-target track planning.For single-target point path planning problems,analogous to the shortest path problem,the solution efficiency and applicability of the Dijkstra and Floyd algorithms used to solve the shortest path problem are analyzed,and random experiments are performed to verify the feasibility of the algorithm;for multi-target point track planning,a discrete particle swarm optimization algorithm with adaptive inertial weights is proposed to explore the optimal solution.Simulation results show that the improved algorithm can well balance global search performance and local search performance.Efficient optimization while avoiding falling into a local optimal solution.The problem of multi-UAVs coordinated trajectory planning is essentially the task assignment of UAVs,and it is a goal optimization problem.In this paper,the quantum genetic algorithm is used to explore the optimal solution with the goal of minimizing the total cost of multi-UAV execution.The principle and process of quantum genetic algorithm are expounded,and the optimization efficiency of the algorithm is verified by simulation experiments.Finally,the hybrid programming of MATLAB software and C # software was used to develop the UAV track planning system.Using MATLAB numerical calculation software to develop algorithm,then using C# to develop GUI.The system’s mission environment modeling,single UAV track planning,and multi-UAVs track planning modules are introduced in turn,and the method of random parameters is used to show the function of each function module,and the feasibility and reliability of multi-UAVs cooperative path planning algorithm are verified.