Method for planning routes of multi-unmanned aerial vehicles based on particle swarm optimization algorithm

[0045] In order to enable those skilled in the art to better understand the scheme of the application, the following will be combined with the appended figure 1 , to describe the technical implementation solution in this application.

[0046] Step 1: Establish a 3D map of the multi-UAV route planning space. Store the UAV flight space in the form of data, and express it as a set of all points (x, y, z) in the planning space {(x, y, z)|X min ≤x≤X max , Y min ≤y≤Y max ,Z min ≤z≤Z max}, where (x, y) represents the horizontal position of the point, and z is the elevation data. The discretized planning space adopts the form of raster to save the digital terrain elevation data.

[0047]Step 2: Establish a multi-UAV route planning model under the three-dimensional map. It mainly includes obstacle model, path model, UAV state model, constraint model and multi-UAV route planning mathematical model. The constraint model includes the maximum turning angle constraint in the vertic...