航空兵器2026，Vol.33Issue(1)：33-43,11.DOI:10.12132/ISSN.1673-5048.2025.0080
基于自适应t分布黑翅鸢优化的多无人机协同路径规划
Cooperative Path Planning for UAVs Based on Adaptive t-Distribution Black Kite Algorithm
摘要
Abstract
To address the multi-constraint coupling problem in cooperative path planning of mul-tiple unmanned aerial vehicles(UAVs)operating in mountainous terrain,this paper proposes a co-operative path planning method based on an improved black kite algorithm(IBKA)with adaptive t-distribution.The proposed algorithm introduces a dynamic elite opposition-based learning mechanism to enhance population diversity,incorporates an adaptive t-distribution mutation operator to achieve a balance between global exploration and local exploitation,and employs a Levy flight strategy to improve the ability to escape local optima,thereby establishing a highly convergent optimization frame-work.At the path generation level,a spatial partitioning strategy is adopted to reduce the complexity of three-dimensional search space,and a multi-objective function integrating flight range cost,flight altitude,and spatiotemporal collaborative constraint is designed.Through a co-evolution mechanism,the proposed method enables parallel optimization of multi-UAV trajectories.Simulation results show that,in single-UAV tasks,IBKA shortens the path length by 9.3%,12.4%,and 14.2%compared with PSO,EVO,and WOA algorithms,respectively.In multi-UAV scenarios,the proposed method generates smooth trajectories satisfying safety distance and time coordination requirements,with an average path length reduction of approximately 14.1%.The results demonstrate that IBKA exhibits superior performance under complex constraint coupling conditions and provides an efficient and prac-tical intelligent planning solution for mountain reconnaissance and emergency delivery missions.关键词
无人机/协同路径规划/黑翅鸢优化算法/自适应t分布/预计到达时间Key words
unmanned aerial vehicle/collaborative path planning/improved black kite algorithm/adaptive t-distribution/estimated time of arrival分类
军事科技引用本文复制引用
杨闰麟,郭正玉,陈才轶,张建,罗德林..基于自适应t分布黑翅鸢优化的多无人机协同路径规划[J].航空兵器,2026,33(1):33-43,11.基金项目
空基信息感知与融合全国重点实验室开放课题项目(202462) （202462）
