Multi-unmanned aerial vehicle route planning method based on bee colony collaborative foraging algorithm

The invention belongs to the field of unmanned aerial vehicle technology, and more specifically relates to a multi-unmanned aerial vehicle route planning method which can be used for multi-unmanned aerial vehicle target tracking, route optimization, cooperative management, cooperative flight, and task distribution. The multi-unmanned aerial vehicle route planning method comprises following steps: detailed information of route planning task is initialized, and coordinate discrete transformation is performed; parameters of the bee colony collaborative foraging algorithm is initialized; route cost of each unmanned aerial vehicle is calculated; current route cost is calculated according to a current position by each unmanned aerial vehicle; guide aerial vehicles are selected by followed aerial vehicles, wherein one followed aerial vehicle is recruited by each guide aerial vehicle; the current route is abandoned and a new route is searched; parameters of optimized route are saved, and an optimal value is calculated; inspection is performed so as to determine whether an upper limit of iteration number is reached. The multi-unmanned aerial vehicle route planning method is capable of resolving the initialization sensitive problem of a traditional intelligent optimization route planning method, and can be used for improvement of accuracy of the algorithm so as to obtain an optimal solution or a second best solution sufficiently close to the optimal solution, and improve stability of route planning and search efficiency.