An Accurate UAV 3-D Path Planning Method for Disaster Emergency Response Based on an Improved Multiobjective Swarm Intelligence Algorithm

Abstract

Planning a practical three-dimensional (3-D) flight path for unmanned aerial vehicles (UAVs) is a key challenge for the follow-up management and decision making in disaster emergency response. The ideal flight path is expected to balance the total flight path length and the terrain threat, to shorten the flight time and reduce the possibility of collision. However, in the traditional methods, the tradeoff between these concerns is difficult to achieve, and practical constraints are lacking in the optimized objective functions, which leads to inaccurate modeling. In addition, the traditional methods based on gradient optimization lack an accurate optimization capability in the complex multimodal objective space, resulting in a nonoptimal path. Thus, in this article, an accurate UAV 3-D path planning approach in accordance with an enhanced multiobjective swarm intelligence algorithm is proposed (APPMS). In the APPMS method, the path planning mission is converted into a multiobjective optimization task with multiple constraints, and the objectives based on the total flight path length and degree of terrain threat are simultaneously optimized. In addition, to obtain the optimal UAV 3-D flight path, an accurate swarm intelligence search approach based on improved ant colony optimization is introduced, which can improve the global and local search capabilities by using the preferred search direction and random neighborhood search mechanism. The effectiveness of the proposed APPMS method was demonstrated in three groups of simulated experiments with different degrees of terrain threat, and a real-data experiment with 3-D terrain data from an actual emergency situation.