02 - Systems Engineering and Integration
RESEARCH ON ROUTE PLANNING METHOD FOR UAV SWARM AREA COVERAGE MISSIONS BASED ON COMPLEX NETWORKS
X. Li¹, L. Deng¹, Y. Ge¹, Y. Pei¹, Y. Gu², L. Cao², A. Shi¹; ¹NORTHWESTERN POLYTECHNICAL UNIVERSITY, China ;²Shanghai Electro-Mechanical Engineering Institute, China
this paper combines agent-based modeling and complex network modeling, proposing a self-organizing route planning method based on complex networks. It uses complex networks to describe information distribution, sharing, and integration among UAV swarms, forming a generalized information relation network. This network encompasses various factors such as command, control, and coordination. In the self-organizing route planning method, UAVs use a search graph to depict changes in the environment and dynamically plan routes based on the information from the search graph. Simultaneously, they coordinate with each other, reducing redundant vis-its and optimizing the overall coverage of the swarm in the region. The method involves constructing the search graph, using genetic algorithm to make local route decisions, and coordinating inter-UAV routes.