The paper is 33 pages, including the code of each small question, a total of 26247 words
UAV cooperative obstacle avoidance track planning
Summary
This paper mainly studies the route optimization of UAVs in a specific environment. Through mathematical models and optimization algorithms, we minimize the flight time of UAVs and further improve the operating efficiency of UAVs. Specific research questions include the optimal route selection of the UAV under the conditions of specified speed and specified distance, and the influence of parameter changes on the optimal route selection.
In problem 1 , we first established a mathematical model of the flight time for the flight conditions of the two drones, set the goal that drone A arrives at the destination first, and used the algorithm to solve the optimal flight path, and simulated Experiments verify the accuracy of the model.
In problem 2 , we consider the situation that UAV B flies first, and UAV A flies later. We also set UAV B to reach the destination first as the goal, re-optimize the algorithm, and obtain a new optimal route , and verified by simulation experiments.
In the third question , we analyzed the effect of the change of the distance from station B to the center of the circle on the optimal navigation