Multi-UAV path planning using DMGWO ensuring 4D collision avoidance and simultaneous arrival

Abstract

Purpose Multi-unmanned aerial vehicle (UAV) systems have succeeded in gaining the attention of researchers in diversified fields, especially in the past decade, owing to their capability to operate in complex scenarios in a coordinated manner. Path planning for UAV swarms is a challenging task depending upon the environmental conditions, the limitations of fixed-wing UAVs and the swarm constraints. Multiple optimization techniques have been studied for path-planning problems. However, there are local optimum and convergence rate problems. This study aims to propose a multi-UAV cooperative path planning (CoPP) scheme with four-dimensional collision avoidance and simultaneous arrival time. Design/methodology/approach A new two-step optimization algorithm is developed based on multiple populations (MP) of disturbance-based modified grey-wolf optimizer (DMGWO). The optimization is performed based on the objective function subject to multi constraints, including collision avoidance, same minimum time of flight and threat and obstacle avoidance in the terrain while meeting the UAV constraints. Comparative simulations using two different algorithms are performed to authenticate the proposed DMGWO. Findings The critical features of the proposed MP-DMGWO-based CoPP algorithm are local optimum avoidance and rapid convergence of the solution, i.e. fewer iterations as compared to the comparative algorithms. The efficiency of the proposed method is evident from the comparative simulation results. Originality/value A new algorithm DMGWO is proposed for the CoPP problem of UAV swarm. The local best position of each wolf is used in addition to GWO. Besides, a disturbance is introduced in the best solutions for faster convergence and local optimum avoidance. The path optimization is performed based on a newly designed objective function that depends upon multiple constraints.