Path Planning of UAVs Swarm Based on Wolf Pack Algorithm with Composite Walk-Fly Mechanism
Wenchang Lv, Zengliang Han · 2024
UAVs are widely used in civil and military fields such as transportation, reconnaissance, etc. Their path planning technology is the technical guarantee for UAVs to achieve intelligent navigation and safely complete tasks smoothly. Traditional planning algorithms have problems such as low accuracy and susceptibility to local optima. This article proposes a collaborative time constrained path planning method based on a wolf pack algorithm improved by a composite walk-fly mechanism to address this issue which can effectively avoid the problems of low accuracy and getting stuck in local optima. Use B-spline interpolation method to smooth the planned path into a smooth curve. The simulation results show that this method can efficiently and safely solve the time constrained path planning problem of multi-heterogeneous UAVs.