Research on UAV Cooperative Obstacle Avoidance Trajectory Planning Based on DWA Model and Sparrow Search Algorithm
Qiao He, Gang He, Kexuan Jiang, Jiayi Gao · 2024
This study aims to solve the dual UAV cooperative obstacle avoidance trajectory planning problem, and proposes an optimization model based on Dynamic Window Approach (DWA) and Sparrow Algorithm. The study solves the problem of avoiding obstacles and optimizing the trajectory of UAVs during flight by constructing the DWA model. On the basis of the model, the flight time of the UAV is further optimized, and the influence of parameter changes on the optimal trajectory selection is verified by analyzing different parameters such as the site location and flight rate of the UAV. The results show that by optimizing the DWA model in combination with the sparrow algorithm, the UAV's obstacle avoidance efficiency can be effectively improved and the flight time can be reduced. Simulation experiments and practical tests verify the effectiveness of the proposed method and demonstrate the stable performance of the algorithm in complex environments. This research provides new perspectives and methods for UAV cooperative flight and obstacle avoidance planning.