华南理工大学学报（自然科学版）2026，Vol.54Issue(8)：110-121,12.DOI:10.12141/j.issn.1000-565X.250301
考虑任务优先级的多无人机3维航迹规划模型
Multi-UAV 3D Trajectory Planning Model Considering Task Priority
摘要
Abstract
Based on the origin-destination points and planned takeoff times of multiple unmanned aerial vehicles(UAVs),and comprehensively considering multiple constraints such as spatiotemporal conflicts,the spatial distribu-tion of restricted zones,and UAV flight performance,this paper establishes a multi-UAV 3D track trajectory colla-borative planning model that takes task priority into account and aims to minimize both trajectory mileage cost and delay time cost.To address the computational challenges of the model,a Multi-Strategy Hiking Optimization Algo-rithm(MSHOA)was designed in this paper.The algorithm first employed a Logistic-Cubic hybrid mapping for population initialization to improve initial population quality;in the global exploration phase,the golden sine stra-tegy and development position update strategy were integrated to perturb individuals so as to avoid local convergence of the algorithm,and the hiker interaction shortcut-searching strategy was applied to accelerate the algorithm's con-vergence capability.To verify the feasibility and superiority of MSHOA,12 benchmark test functions were selected to compare the solution performance of MSHOA with five classical intelligent optimization algorithms,and ablation experiments were implemented to verify the effectiveness of each improved strategy.Meanwhile,a practical UAV track planning case was used to comparatively analyze the influences of departure delay,task priority and spatio-temporal conflict constraints on multi-UAV scheduling results.The research results show that,compared with the traditional model without task priority settings,MSHOA increases total flight time,total delay time,and trajectory mileage by 0.89%,12.60%,and 1.79%,respectively.Such slight performance loss is caused by the adaptation to multiple practical flight constraints,which can effectively avoid flight conflicts and better fit the engineering sce-narios of real UAV collaborative scheduling,thus demonstrating stronger practicality.Compared with HOA,DBO,GWO,PSO and SSA,MSHOA reduces the iteration cost by 56.39%,82.40%,46.55%,91.99%and 81.39%,respectively,and cuts down convergence iterations by 38.46%,86.09%,83.33%,48.39%and 69.23%correspon-dingly,which further verifies the advantages of the improved algorithm in optimization accuracy and convergence speed.关键词
多无人机/三维航迹协同规划/任务优先级/徒步优化算法/多策略Key words
multi-UAV/three-dimensional track collaborative planning/task priority/hiking optimization algorithm/multi-strategy分类
交通工程引用本文复制引用
孙博,章文鹏,魏明..考虑任务优先级的多无人机3维航迹规划模型[J].华南理工大学学报（自然科学版）,2026,54(8):110-121,12.基金项目
教育部人文社会科学项目(20YJCZH176) （20YJCZH176）
天津市教委科研计划项目(2025KJ180) （2025KJ180）
民航飞行技术与飞行安全重点实验室开放基金项目(FZ2021KF06) Supported by the Humanities and Social Sciences Research Program of the Ministry of Education(20YJCZH176),the Scientific Research Plan Project of Tianjin Municipal Education Commission(2025KJ180)and the Open Fund of Key Laboratory of Civil Aviation Flight Technology and Flight Safety(FZ2021KF06) （FZ2021KF06）
