Rapid Optimal Deployment Algorithm for UAV Cooperative Positioning Sites

A rapid deployment optimization algorithm that balances deployment time and positioning accuracy for unmanned aerial vehicles (UAVs) is proposed. In addition to the existing constraints on communication distance and safety distance in the optimization function, a constraint on UAV formation adjustment time is introduced. For the nonconvex region optimization problem, the initialization process of the particle swarm optimization (PSO) algorithm is improved by incorporating the Delaunay triangulation method. Simulation results demonstrate that the formation optimization effectiveness can be enhanced by over 40% in nonconvex regions, while the required time for UAV deployment is reduced by more than 65%.