App. Res. of Comp. Accepted Paper
Vol. 44, 2027 No. 2

Improved escape algorithm for cooperative path planning of multiple UAVs under constant wind field

Dai Anna
Huang Jiewu
Hu Hui
Cao Shoumei
School of Data Science and Information Engineering, Guizhou Minzu University Guizhou 550025, China
DOI: 10.19734/j.issn.1001-3695.2026.06.0159

Abstract

This study focused on multi-UAV cooperative path planning in a constant wind field environment. An improved escape algorithm incorporated three core modules: wind field utilization, kinematic constraint handling, and cooperative conflict resolution. A hierarchical weighted multi-objective cost function modeled multiple constraints through a path quality group and a constraint penalty group. Wind effects entered the time cost via ground-speed calculation. A square penalty for over-limit conditions provided soft kinematic guidance. Bidirectional iterative correction enforced hard constraints in the post-processing stage. A fitness-priority-based strategy resolved cooperative conflicts by applying directional push operations to low-priority UAVs. A three-stage procedure combining sensitivity analysis, orthogonal experiments, and ablation experiments determined the optimal parameter configuration. Experiments in complex mountainous terrain and multiple threat scenarios produced the following results. The kinematic constraint module reduced path length by 8.6% and improved smoothness by 23.5%. The cooperative conflict resolution module increased mission success rate from 90% to 100%. Comparative experiments against the HBAFOA optimizer confirmed the advantages of the proposed modules in path quality and search stability.

Foundation Support

国家自然科学基金资助项目(62566012)
贵州省研究生教育创新计划项目(2025YJSKYJJ205)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2026.06.0159
Publish at: Application Research of Computers Accepted Paper, Vol. 44, 2027 No. 2

Publish History

[2026-10-21] Accepted Paper

Cite This Article

代安娜, 黄介武, 胡会, 等. 恒定风场环境下多无人机协同路径规划的改进逃逸算法 [J]. 计算机应用研究, 2027, 44 (2). (2026-10-24). https://doi.org/10.19734/j.issn.1001-3695.2026.06.0159. (Dai Anna, Huang Jiewu, Hu Hui, et al. Improved escape algorithm for cooperative path planning of multiple UAVs under constant wind field [J]. Application Research of Computers, 2027, 44 (2). (2026-10-24). https://doi.org/10.19734/j.issn.1001-3695.2026.06.0159. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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