Collaborative Path Planning Method for Multi-UAV Cooperative Delivery Mission Based on HGPSO Algorithm
Xi Chen, Jun Tang, Yu Wan, Zipeng Zhao · 2024
Unmanned Aerial Vehicle (UAV) carries relief materials to perform cooperative delivery mission, which has a high guarantee in both flexibility and security, and can avoid the personal safety threat of pilots in the original delivery mode in the post-disaster scenario. In this paper, we study the problem of collaborative path planning before start of the multi-UAV cooperative delivery mission. Based on the knowledge of graph theory and the generalized multiple traveling salesman problem, the model of multi-UAV mission path planning problem is established. Real and reasonable constraints are added and formulated, including UAV cooperation constraints and task order constraints. According to the characteristics of the problem model, this paper innovatively proposes a Hybrid Grouping Particle Swarm Optimization (HGPSO) algorithm. The particle population is divided into subgroups of the same size to represent the feasible solution. Then, based on the crossover and mutation idea of genetic algorithm, this paper improves the velocity update rule of particle swarm, and proposes four crossover and mutation methods. Finally, simulation experiments verify the effectiveness of the algorithm, and the convergence data show that the algorithm can meet the needs of rapid decision-making and response in post-disaster rescue.