| Citation: | YAN S Q，YANG P，LIU W D，et al. Multi-UAV trajectory planning for complex terrain based on GPSSA algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（1）：303-313 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0984
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A multi-UAV cooperative path planning approach based on the self-destruction mechanism and game predatory sparrow search algorithm (GPSSA) is suggested to address the issues of high time requirement and problematic convergence. Firstly, a single UAV path planning model and a multi-UAV cooperative path planning model are established respectively by using the hierarchical planning idea, which is transformed into optimization problems. Then, the game predatory mechanism and self-destruction mechanism is proposed to improve the sparrow algorithm, prevent it from rapidly losing the diversity of the population, enhance the ability of the original algorithm to escape the attraction of local optimum, and make the search mode of the algorithm more flexible. Finally, the improved sparrow algorithm is used to solve the model. The outcomes of the simulation demonstrate how fast and accurately the GPSSA method can plan a path that satisfies the requirements, while also having superior algorithm robustness, convergence speed, and optimization accuracy.
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