Gray Wolf Based Algorithm Applied to UAV Route Planning Methodology
Chengli Hu, Xianbang Yang, Xiaolin Ma · 2024
This study establishes a UAV cluster path search model based on the Gray Wolf optimization algorithm. First, to meet the scenario of multi-UAV cooperative planning, the traditional binary coding method cannot accurately encode the high-dimensional, multi-constraint cooperative trajectory planning problem, so the variable length coding method is used to encode it. The optimized numerical intelligences with variable length coding method are used to represent the multi-UAV cooperative trajectory, which reduces the amount of searching operations of the GWO algorithm and improves the efficiency of the optimization searching; at the same time, this study establishes and examines innovative mathematical models in a large number of ways, and achieves the fast optimization searching of the algorithms at the early stage and the deep-mining and fast searching of the algorithms at the later stage by searching for the function factor of the update matrix in the nonlinear way. Finally, this study improves the optimization of the GWO algorithms by improving the existing flight control system to make it more suitable for the algorithms and engineering requirements of the UAV intelligent delivery task. And at the same time, the algorithms have also realized the experimental operation of the flight control system and the robustness verification of the algorithms in the actual scenarios. The improved algorithm takes 622 seconds, has no collisions, and the convergence value of the fitness function is 29.26.