Real-Time Path Planning Algorithm for UAV Swarm on Complex Terrain Based on Multi-objective Particle Swarm Optimization

To solve the problem of real-time collaborative path planning for UAV swarm, this paper proposes an advanced real-time path planning algorithm for UAV swarm on complex terrain based on multi-objective particle swarm optimization. The proposed algorithm divides UAV swarm path planning into two stages. In the first stage, the multi-objective particle swarm optimization algorithm is adopted to process the static environment information rapidly. Then, several non-dominated feasible paths based on reference point method can be selected. These non-dominated feasible paths are used as the preset flight direction of UAV swarm. In the second stage, the dynamic of the quadrotor UAV is taken into consideration for the UAV swarm path planning. In order to achieve collision avoidance and obstacle avoidance in the paths, develop the collision-free flocking behavior for a dynamic squad of quadrotor UAVs. Finally, the experimental results demonstrate the capabilities of our proposed algorithm, and the UAV swarm can reach the target's neighborhood at the same time.