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3D Multi-UAV Collaboration Based on the Hybrid Algorithm of Artificial Bee Colony and A*

Multi-UAV cooperative operation has more advantages in penetrating enemy defense systems, detecting targets and attacking missions. Firstly, a 3D multi-UAV track planning method based on the hybrid algorithm of artificial bee colony and A* is presented. Theoretical and simulation researches have shown that the hybrid algorithm has better performance in avoiding threats and smaller track cost compared to A* algorithm. Secondly, the adaptive time collaboration under the 3D multi-UAV collaborative track planning based on the hybrid algorithm is studied. According to the time arrange, the adaptive time coordination state is divided into simultaneous arrival, sequential arrival, and uncoordinated arrival. In the case of sequential arrival, we focus on the iterative selection of the arrival time difference instead of specified time intervals, which can maximize the possibility of the multi-UAV sequential arrival and enhance the ability of coordinated attack.