Research On The Collaborative Planning Method Of Multi-small UAV Path

With the rapid development of science and technology in the aviation field,the UAV can be widely used.However,modern wars are becoming more and more complicated in the rapid development of science and technology,and the efficiency of single Unmanned Aerial Vehicle(UAV)will reduce.The multi-machine coordinated operation of the UAV will become a tread.Multi-UAV taskt cooperation are planed to improve the whole coorperation efficiency and complete the reconnaissance and attack on mission targets.The situation of multi-UAV cooperation facing single target and multiple target is studied.The requirement of multi-UAV path collaborative planning is complated by using the optimized ant colony algorithm.Firstly,the UAV mentioned in the passage is small UAV.To analyze the environment for the UAV to perform the task,including flight performance constraints and cooperative constraints,and the digital map generated based on the existing flight environment data and threat coordinates.Secondly,to introduce the basic principle of the traditional ant colony algorithm.It optimized the traditional ant colony algorithm by changing the transfer probability function,changing the pheromone updating method and setting the pheromone range.It simulated the optimized ant colony algorithm through the path planning of single unmanned aerial vehicle,and verified the improvement of the traditional ant colony algorithm.Finally,to design the Multi-UAV path planning scheme,and adopt multi-level method by planning several alternative flight path for UAV from the routes and selecting several flight paths,cooperative management with time coordination constraints,path optimization layer optimize the final path.To prove the superiority of optimized ant colony algorithm by comparing the the simulation results of traditional ant colony algorithm,artificial potential field algorithm and ant colony algorithm for single target and multi target cooperative programming simulation results.