Study on Path Planning by Cooperative Evolution for Multiple Unmanned Air Vehicles
LI Shi-xia · Jisuanji fangzhen · 2013
In order to solve the cooperation and collision problem between UAVs,a method of path planning based on cooperative evolution was put forward for multiple UAVs path planning under complex environment. The safe-flying surface was established based on digital map. We treated the path planning for each UAV as a sub-problem and used the method of parallel evolution. The coordinative function and colliding avoidance between UAVs were designed to realize the time-coordination and colliding avoidance. In each species,self-adapting evolution method was adopted to make sure the convergence of algorithm as well as the diversity. Simulation results show that the algorithm is practical and effective,and the method can quickly get the low altitude penetration 3-d path for each UAV.