UAV swarm path planning approach based on integration of multi-population strategy and adaptive evolutionary optimizer

Abstract

Abstract Addressing the optimal path planning problem encountered by swarm of unmanned aerial vehicle (UAV) in three-dimensional space under multiple constraints, the Multi-population Adaptive Cuckoo Search and Grey Wolf Optimizer (MACSGWO) integrates Multi-Population (MP) strategies and adaptive evolutionary optimizer including the enhanced Adaptive Grey Wolf Optimizer (AGWO) and adaptive Cuckoo search (ACS). The optimizer strategically divides the initial population into multiple sub-groups, enabling each sub-group to independently iterate. During the iteration process, the algorithm adaptively adjusts parameters based on the optimal fitness values obtained by each sub-group after each iteration. The iteration cycle is divided into two stages: during the global exploration phase, each sub-group autonomously executes AGWO and periodically shares the fitness information of the Alpha wolf with other sub-groups, accelerating convergence. In the subsequent local optimization phase, MACSGWO dynamically decides whether to initiate ACS based on the disparity in the best fitness of each sub-group after each iteration, assisting the algorithm in escaping local optima. In experiments involving various complex benchmark functions and swarm path planning scenarios, MACSGWO demonstrated significant superiority in solution stability, convergence speed, and optimal convergence value compared to multiple existing variant algorithms. The integration of MACSGWO with the best relay UAV selection strategy further optimized the communication efficiency within the swarm. MACSGWO ensures the efficient resolution of UAV swarm path planning problems, providing robust support for optimization challenges in complex, multi-constraint scenarios.