Research And Design Of UAV Swarm Route Planning

Unmanned aircraft,or Unmanned Aerial Vehicle（UAV）,is becoming a part of people’s life.With the increase of people’s demand for multi-point complex tasks,the traditional single UAV cannot complete the multi-point complex tasks quickly,and requires a group of UAVs to complete the task together.By applying swarm intelligence to multiple UAVs,UAVs can exchange information and complete complex tasks autonomously.At present,UAV swarm technology has become a hot research topic.One of the key technologies of UAV swarm flight is route planning,which is mainly composed of UAV formation,obstacle avoidance and information coordination.Reasonable route planning can ensure the flight safety of UAV and has important research significance and application value.In this paper,the problem of UAV swarm route planning is studied.The main contents are as follows:（1）Introduces the research background,significance and research status of the paper,including the research background and research significance of UAV swarm,biological swarm intelligence and route planning.Analyzes and discusses the application status and route planning algorithm of UAV swarm commonly used at home and abroad.This paper mainly introduces the concept of UAV swarm route planning and its three sub-problems,then researches and analyzes the common methods and algorithms of each sub-problem.（2）Based on the leader-follower formation mode,this paper improves the traditional particle swarm optimization algorithm,proposes and designes the UAV swarm cooperative flight algorithm and testes it.The proposed algorithm is tested several times by changing the number of followers.The test results show that the algorithm designed in this paper can realize the cooperative flight of UAV swarm,and the algorithm is effective and robust,meanwhile it has good trend following and fast convergence.（3）Research on the problem of UAV obstacle avoidance,and designs an obstacle avoidance algorithm for UAV swarm cooperative flight.Firstly,the basic principles and shortcomings of the traditional artificial potential field method are introduced,and an improved artificial potential field method（i APF）is proposed.Then,the i APF algorithm is combined with the cooperative flight algorithm to design an obstacle avoidance algorithm for UAV swarm cooperative flight.Finally,a simulation test is carried out.The test results show that the cooperative flight obstacle avoidance algorithm can achieve cooperative flight and obstacle avoidance in a swarm of UAVs in a static known environment.（4）Based on dynamic unknown complex environment,the effectiveness of cooperative flight obstacle avoidance algorithm designed in this paper is verified.The test results show that the algorithm designed in this paper has good robustness for the sudden appearance of obstacles in known environment and random appearance of obstacles in unknown environment.At the same time,this paper uses the circumferential circle method to solve the obstacle avoidance problem of non-circular obstacles and verifies it,and the test results show that the cooperative flight obstacle avoidance algorithm based on the circum-circle method is effective.