基于LASSA算法的多无人机协同航迹规划方法

针对基本麻雀搜索算法(sparrow search algorithm,SSA)在求解多无人机(unmanned aerial vehicle,UAV)协同航迹规划问题时收敛精度不高,易于陷入局部最优等问题,提出了一种使用对数螺旋策略和自适应步长策略的SSA (logarithmic spiral strategy a...

Multiple UAV cooperative path planning based on LASSA method

In order to address the problems of low convergence accuracy and easy to fall into local optimum of the basic sparrow search algorithm (SSA) in solving the multiple unmanned aerial vehicle (UAV) cooperative path planning problem, a multiple UAV cooperative path planning method based on the logarithmic spiral strategy and adaptive step size strategy of the SSA (LASSA) is proposed. Firstly, a single UAV path planning model is built using hierarchical planning ideas. Then, a time coordinative multiple UAV path planning model is built to transform the problem into a functional optimization problem. Secondly, a logarithmic spiral strategy is used to expand the search of the surrounding space and enhance the diversity of individuals in the population. And an adaptive step strategy is used to better control exploitation and exploration behaviors. Finally, the proposed path planning model is solved by using LASSA. Simulation results show that the proposed LASSA can find near optimum, constraint-satisfying flight paths while satisfying the time cooperative condition, which proves the effectiveness of the proposed multiple UAV cooperative path planning model and the superiority of the improved algorithm in this paper.