High-Dimensional Multi-Objective Trajectory Planning Of Multi-UAV

With the increasing development of UAV technology,UAVs play an important role in all walks of life due to their high feasibility,lack of casualties,high reconnaissance and flexibility.As a modern aerial weaponry,UAVs are receiving more and more attention for their ability to accomplish missions in complex environments.While UAVs are performing tasks,the working capacity of a single UAV and its working range will be limited to meet the needs of many complex tasks,and multi-UAV cooperation comes into being.Multi-UAV trajectory planning is crucial for multi-UAV collaborative mission execution and can improve the efficiency of mission completion.In this paper,we construct a high-dimensional multi-objective optimized multi-UAV trajectory planning model and use the improved NSGA-III algorithm for trajectory solving as follows.(1)Aiming at the synergy problem between multiple UAVs,the highdimensional multi-objective optimized multi-UAV cooperative trajectory model is proposed by considering the multi-UAV trajectory distance cost,multi-UAV trajectory time cost,multi-UAV trajectory cooperative distance cost and multiUAV trajectory threat cost,and analyzing the constraints such as UAV’s own performance and multi-UAV synergy,constructing a three-dimensional complex UAV The improved NSGA-III algorithm is used to solve the multi-UAV trajectory.The improved NSGA-III uses a segmented crossover strategy instead of the original crossover strategy and sets dynamic crossover probabilities to improve the convergence of the algorithm.Simulation experiments verify the effectiveness of the method.(2)To address the problem of unsmoothed trajectory caused by dangerous emergency turns and sharp corners at the trajectory points during UAV trajectory planning,a multi-UAV smooth trajectory model with high-dimensional multiobjective optimization is proposed,taking into account the multi-UAV trajectory distance cost,multi-UAV trajectory time cost,multi-UAV trajectory cooperative distance cost,multi-UAV trajectory threat cost and multi-UAV The improved NSGA-III algorithm is used to solve the multi-UAV trajectory,and a perturbation operator and a deletion operator are added to the improved algorithm,and then a B-sample curve is used to smooth the initial planned trajectory.The simulation experiments verify the effectiveness of the method.(3)This paper designs a Matlab-based multi-UAV trajectory planning system,using the model and algorithm of this paper as the back-end support technology and the GUI interface as the front-end to display the results of multi-UAV trajectory planning.The system is designed with the functions of user registration and login,trajectory parameter setting and trajectory planning result display.