Cooperative Path Planning for UAVs Based on Improved Ant Colony Algorithm
LI Kexian · Electronics Optics & Control · 2011
For the cooperative missions of UAVs,how to determine the trajectories of each UAV is the basis and key for the whole planning,and has direct influence on operational effectiveness.A hierarchical decomposition strategy was adopted to solve the initial multi-path problem.First,the Voronoi Diagram was created according to the known threat sources.Then an improved ant colony algorithm with direction guiding policy was developed,which could reduce the effect of lost ants on convergence property.Additionally,the temporal and spatial cooperation were analyzed.Finally simulation was carried out on cooperative path planning with time window constraints.The results show that the proposed method can overcome the premature stagnation,resolve the diversity problem and improve the efficiency of the algorithm.