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| Path Planning and Control of UAV Cluster Cooperative Reconnaissance Multi-Point Targets |
| HE Tong1， WEI Yali2， LU Qing1， BI Qian3 |
| 1. Institute of Precision Guidance and Control， Northwestern Polytechnical University， Xi'an 710072，
Shaanxi， China； 2. Shanghai Electro-Mechanical Engineering Institute， Shanghai 201109， China；
3. National Key Laboratory of Electromagnetic Space Safety， Chengdu 610036，Sichuan， China |
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Abstract Based on the background of multi-UAV cooperative reconnaissance of multi-point targets, a clustering algorithm using reconnaissance coverage was designed in this study. The path planning and control problem of multi-point targets was solved by employing the ant colony algorithm and consistency algorithm. Firstly, a clustering algorithm was designed to reintegrate the target points to resolve the problem of repeated reconnaissance of target points. Then, the UAV flight path was projected according to the integrated target clustering results, and the reconnaissance sequence was determined from the clustered virtual target points. Finally, the consistency algorithm was applied to complete the formation-keeping and path-tracking algorithm of the UAV formation so that the UAV cluster could maintain a certain formation and complete the reconnaissance task according to the reconnaissance sequence. Simulation verification was carried out using the above algorithm, and the effectiveness of the clustering algorithm, path planning, UAV control and path control were verified.
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Received: 09 October 2023
Published: 22 March 2025
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2025, Vol. 8 
