RHC Method Based 2D-equal-step Path Generation for UAV Swarm Online Cooperative Path Planning in Dynamic Mission Environment

This paper first mathematically models the UAV swarm online cooperative path planning problem based on the prerequisite assumptions of transparent posture and dynamic mission environment. Then the receding horizon control (RHC) and 2D-equal-step path generation method are briefly introduced and combined with the improved firefly optimization algorithm to solve the UAV swarm online cooperative path planning problem modeled in the previous. Simulations show that the improved firefly algorithm combining the RHC and 2D-equal-step path generation methods can be used to optimally solve the UAV swarm online cooperative path planning problem for moving mission targets in dynamic environments, and the improved firefly algorithm is more powerful and more efficient than the original algorithm in this process of application.