Collaborative Path Planning for UAVs Based on ISPEA2

Efficient drone collaborative path planning is an effective measure to enhance the overall combat capability of drone formations. To enhance the efficiency and safety of missions, the collaborative trajectory planning problem of unmanned aerial vehicles (UAVs) in complex battlefield environments was studied. Firstly, the task requirements for collaborative trajectory planning of UAVs were analyzed, and a commonly used combat environment for UAVs was constructed. Secondly, the threat elements in complex battlefield environments are modeled, and penalty functions are set for each threat element. Thirdly, based on spatiotemporal constraints, communication constraints, and various threat factors, a multi-objective optimization model for UAV collaborative trajectory planning is constructed with the optimization objectives of planning trajectory quality and threat level. Finally, based on the characteristics of the model and the problem, an improved mutation strategy and two types of local search strategies are introduced to the proposed improved SPEA2(ISPEA2) for model solving, resulting in a four-dimensional collaborative planning trajectory for UAVs. The effectiveness and superiority of the proposed method in different combat scenarios were verified through simulation experiments and algorithm comparisons.