面向未知拒止环境的分布式自适应多无人机协同航迹规划

doi:10.12305/j.issn.1001-506X.2026.01.16

Abstract

Abstract:

Aiming at the path planning problem of unmanned aerial vehicle （UAV） swarm in unknown environments, a distributed adaptive multi-UAV collaborative path planning method, especially in communication denial environments where UAV cannot use global positioning systems. This paper combines the navigation module and obstacle-avoidance module, and use the adaptive destination-oriented strategy （ADOS） in the process of UAV swarm path planning. Moreover, this paper have constructed an evaluation system to ensure the consensus of swarm velocity in the overall process, and no collision between UAVs. Then, a fitness function is established and a distributed optimization framework is built by using the sparrow search algorithm. Finally, this paper optimizes the whole path planning process through minimizing the optimal parameters of navigation module and obstacle-avoidance module. It is particularly noteworthy that this paper introduces the concept of “UAV line of sight” in obstacle-avoidance module, and based on this, an efficient obstacle-avoidance method is obtained to improve the efficiency of the swarm path planning by using multiple lines of sight as alternative obstacle-avoidance lines. Finally, we conduct obstacle avoidance flight simulation experiments in different test platforms and compared with existing algorithms, which demonstrate the effectiveness of the proposed algorithm.

Key words: unmanned aerial vehicle （UAV）swarm, collision avoidance, sparrow search algorithm, distributed control

CLC Number:

TP 391.9

Qichen XU, Zhaohui ZHANG, Jing LI. Distributed adaptive multi-UAV collaborative path planning in unknown denial environments[J]. Systems Engineering and Electronics, 2026, 48(1): 172-184.

Figures/Tables 27

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编号	k
编号	1	2	3	4	5	6	7	8	9	10	11	12
F_dire	0.5551	0.6055	0.578	0.4888	0.383	0.2969	0.2438	0.2235	0.2342	0.2769	0.3533	0.4558
F_dist	0.7351	0.6705	0.65	0.7763	0.9963	0.6811	0.6346	0.5996	0.7654	0.9071	0.9533	0.9087
F	0.2999	0.2722	0.2442	0.2945	0.3802	0.1377	0.0982	0.0803	0.1372	0.2278	0.3211	0.3764
单位方向	40.00	6.25	3.89	0.00	−8.11	−34.64	−6.70	−6.57	−9.95	0.00	5.03	34.64
	0.00	3.61	6.74	40.00	14.05	20.00	0.00	−3.79	−17.23	−40.00	−8.71	−20.00
	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00

参数	参数范围	最优点
${\phi ^\text{vel}}$	$ [0,{V_{\max }}/{v_0}] $	1
${\phi ^\text{corr}}$	$ {\text{[ − 1,1] }} $	1
${\phi ^\text{u2u}}$	$ {\text{[0,1]}} $	0
${\phi ^\text{u2o}}$	$\{ 0,1, \cdots ,N\} $	0
${\phi ^\text{arrive}}$	$ {\text{[0,1]}} $	1

参数	数值
${p_s}$	7.0789
${p_a}$	1.8849
${p_c}$	0.01
$\lambda $	0.0003
$\mu $	0.9459
${F_{\min }}$	−25798

算法	所提算法	Vásárhelyi所提算法	BICS算法
时间/s	58.05	100+	65

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Distributed adaptive multi-UAV collaborative path planning in unknown denial environments

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