Multi-target Cooperative Path Planning for Air-Sea Heterogeneous Unmanned System

This paper focuses on the cooperative path planning of multi-target heterogeneous unmanned systems in air-sea. In the face of multiple targets, Unmanned Aerial Vehicles (UAV) flies fast, but its range and load capacity are limited; Unmanned Surface Vehicles (USV) has strong load capacity and long endurance, but its navigation speed is slow. This paper studies the path planning problem of the air-sea heterogeneous unmanned system composed of UAVs and USVs for a large range and multiple targets, taking the time for the unmanned system to complete this task as the optimization objective. Firstly, distinguish targets with ReConDensity-Ratio based clustering algorithm, and find appropriate refueling points for UAVs and USVs in each classification. Secondly, the Double-deck Travel Modified Particle Swarm Optimization algorithm (DT-MPSO) is used to plan the path of targets and find the shortest route. Finally, the effectiveness of the proposed method is verified by simulation experiments.