UAV Path Planning Based on Shuffled Frog-Leaping Algorithm and Dubins Path

摘要

In this paper, a novel path planning algorithm for the fixed-wing UAV based on shuffled frog-leaping algorithm(SFLA) and Dubins path is proposed. First, the Dubins path planning is transformed into a discrete combinatorial optimization problem. Then the SFLA is used to search the optimal Dubins path, so that the generated flight path directly satisfies the minimum turning radius constraint of UAV. In order to perfectly combine the SFLA and the Dubins path, a novel coding method and the worst frog update strategy are presented. Finally, the simulation results prove that the algorithm is effective for path planning of single UAV and multiple UAVs.