Research on Multi-UCAV Cooperative Route Planning Based on Coevolutionary Multi-Ant-Colony Algorithm
Lincheng Shen · Acta Armamentarii · 2009
Cooperative route planning is one of the key technologies increasing the efficiency of multi unmanned combat aerial vehicles(UCAV) to perform cooperative missions.The space,precedence and time window constraints in multi-UCAV cooperative route planning were analyzed,and the criteria of cooperative route estimation based on cooperative coefficient were presented;The cooperative route planning algorithm based on the coevolutionary multi-ant-colony algorithm was designed and implemented by the coevolutionary strategy among multi-ant-colony and the improved state transition rule and pheromone updating mechanism.The simulated results show that the proposed method can solve the cooperative constraints efficiently,and is effective for the multi-UCAV cooperative route planning problem.