4D Route Planning for multi-UAV Based on Evolutionary Algorithm
Chengping Zhou · Jisuanji fangzhen · 2009
In contrast to the most existing route planning that are suitable for two-dimensional or three-dimensional space,a new four-dimensional route planning for multi-UAV (Unmanned Air Vehicle) based on evolutionary algorithm was proposed. Based on the three-dimensional route planning,the restriction of time was considered,and the arrival time to the target in the process of route search was combined and multi-UAV was ensured to perform a synchronously strike target and avoid collision by computing the coordinates of route nodes in four-dimensional space. The experimental results demonstrate that the method can complete four-dimensional route planning efficiently and obtain desirable routes for multi-UAV flight.