Trajectory Planning for UAV Based on Improved Artificial Immune Algorithm
Zi Ye, Zihao Yi, Yuxuan Li · 2024
Our study centers on the multi-UAV multi-store delivery problem and considers the power problem of the UAV for the charging setup of the UAV. In our study, we developed an optimized mathematical model for the problem background and setting, and we selected an artificial immune algorithm to solve the problem with reference to existing studies. In the solution, we proposed equal-length encoding and IPOX crossover operation for the encoding problem of the solution vector, and based on the traditional algorithm, we proposed a two-population strategy to improve the traditional algorithm in order to improve the information interaction of the populations and to jump out of the local optimum, and we introduced an adaptive variation probability to enhance the convergence of the algorithm, and finally, we compared the improved algorithm with the traditional algorithm and came up with the results of the effectiveness and the improvement of the traditional algorithm in solving the problem. We finally compare the improved algorithm with the traditional algorithm and conclude the effectiveness of our improvement on the problem and its superiority over the traditional algorithm.