Multi-UAV Cooperative Path Planning Based on Aquila Optimizer

This paper proposes a cooperative path planning algorithm for multiple UAVs based on aquila optimizer to meet the autonomous capability requirements of Close Air Support mission. The algorithm considers both the performance of individual trajectories in UAV path planning and the performance of space-time cooperation among multiple UAVs. We transform the cooperative path planning problem into an optimization problem and solve the multi-UAV trajectory with the features of multiple iterative methods of Aquila optimizer. According to the simulation results, the UAV trajectory generated by the algorithm can avoid enemy threats and terrain threats, maintain communication distance between team members, with no risk of crash, and can meet the requirements of reliability, safety, and environmental adaptability of UAVs in CAS missions with good performance.