Modified Particle Swarm Optimization based Path Planning for Multi-Uav Formation

Abstract

The objective of this research work is to get a fleet of UAVs to converge to predefined spatial configuration. This is achieved through finding optimal trajectories of each UAV. A modified Particle Swarm Optimization (PSO) based on Orthogonal Design is proposed to find the optimal position of UAVs at each time step by minimizing a predefined objective function. For implementing this algorithm in 3D environment, tilt plane strategy is used to get a 3D way point. Laden with threats and terrain constraints, way point sequence strategy is formulated and objective function is also redefined. In addition, the searching accuracy is augmented by the relative particle directivity from current location. The optimization and path generation strategies are designed independent of local controllers of UAV. The method is tested in simulation for different patterns and initial conditions. A UAV model dynamics is used for validation. © 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.