Cooperative Path Planning Algorithm of UAV in Urban Environment Based on Improved Pigeon Swarm Algorithm

For the urban environment with dense obstacles, narrow space and complex air flow, the UAV cooperative path planning method is studied. The selection method of cooperative path in urban environment is proposed. A multi UAV cooperative path planning method based on Cauchy mutation pigeon intelligent optimization algorithm (ECM-PIO) is proposed, which avoids the optimization deviation of the traditional pigeon swarm algorithm in the process of path optimization and overcomes the disadvantage that the traditional pigeon swarm algorithm is easy to fall into local optimization. The simulation results verify the advancement of the proposed cooperative path planning method of UAV in urban environment based on ECM-PIO.