Multi-UAV Cooperative Trajectory Planning Based on FDS-ADEA in Complex Environments

Multi-UAV cooperative trajectory planning (MUCTP) refers to the planning of multiple flyable trajectories based on the location of each UAV and mission point in a complex environment. In the planning process, the complex 3D space structure increases the difficulty of solving the trajectory points, and the mutual constraints of the UAV cooperative constraints can degrade the performance of the planning system. Therefore, to improve the efficiency of MUCTP, this study proposes MUCTP based on feasible domain space and adaptive differential evolution algorithm (FDS-ADEA). The method first constructs a three-dimensional feasible domain space to reduce the complexity of the search space structure; then, the constraints of heterogeneous UAVs are linearly weighted and transformed into a new objective function, and the information of the fitness value is shared in accordance with the adaptive method and the code correction method to improve the search efficiency of the algorithm; finally, the trajectories are smoothed to ensure the flyability of the UAVs performing the mission by combining the cubic B-spline curves. Experiments 1, 2, 3, and 4 validate the proposed algorithm. Simulation results verify that FDS-ADEA has fast convergence, high cooperative capability, and more reasonable planned trajectory sets when processing MUCTP.