Kunming Shi

The path planning of unmanned aerial vehicles (UAVs) in the threat and countermeasure region is a constrained nonlinear optimization problem with many static and dynamic constraints. The fruit fly optimization algorithm (FOA) is widely used to handle this kind of nonlinear optimization problem. In this paper, the multiple swarm fruit fly optimization algorithm (MSFOA) is proposed to overcome the drawback of the original FOA in terms of slow global convergence speed and local optimum, and then is applied to solve the coordinated path planning problem for multi-UAVs. In the proposed MSFOA, the whole fruit fly swarm is divided into several sub-swarms with multi-tasks in order to expand the searching space to improve the searching ability, while the offspring competition strategy is introduced to improve the utilization degree of each calculation result and realize the exchange of information among various fruit fly sub-swarms. To avoid the collision among multi-UAVs, the collision detection method is also proposed. Simulation results show that the proposed MSFOA is superior to the original FOA in terms of convergence and accuracy.