In order to overcome the disadvantages such as high range cost and long calculation time of traditional water drops algorithm for path planning, an optimized water drops algorithm is proposed for multiple UAVs path planning. The set of waypoints to be selected on the grid map is determined based on the calculation step length and heading angle, and the heuristic term is introduced into the probability calculation of choosing the waypoints from the set. The selection of the next waypoint is more flexible. It does not need to limit the waypoint to locate at the center or edge line of the adjacent grid, thus reduces the data amount of soil content information which need to be updated. Compared with the traditional water drops algorithm, ant colony algorithm based on Voronoi map and ant colony algorithm based on grid map, the proposed algorithm shortens the planning path range by 3.2%, 14.4% and 4.9% respectively, and the running time of the algorithm is reduced by 52.9%, 35.1% and 47.6% respectively.
Multiple UAVs Path Planning Based on Optimized Water Drops Algorithm
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 14 ; 130-138
2022-03-18
9 pages
Article/Chapter (Book)
Electronic Resource
English
Multiple UAVs Path Planning Based on Optimized Water Drops Algorithm
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