A Distributed Adaptive Route Planning Optimization Algorithm for UAV Swarm

发表于 分类于 ， Waline： 阅读次数： 本文字数： 780 阅读时长 ≈ 1 分钟

Main code for my article: A Distributed Adaptive Route Planning Optimization Algorithm for UAV Swarm, is now under review.

Before running, a toolbox should be installed: https://github.com/mattools/matGeom

Some of the code information is as follows:

  • Drone.m, Obstacle.m: they are class of UAVs and obstacles, including some properties and methods;

  • H.m, heaviside.m: some mathematical functions;

  • insertsectCuboid.m, insertsectCylinder.m: to determine whether the ray intersects with a box/cylinder and return the intersection point;

  • isInCuboid.m, isInCylinder.m: to determine whether the drone is in an obstacle;

  • calculateF.m: to calculate value F;

  • main_cuboid.m, main_cylinder.m: are the main programs, the former has a cuboid wall, while the latter has many cylinders.

  • plot_H_exp.m, viewline.m: some functions to plot details;

  • optimizer.m,main_optimize.m: used to optimize parameters in the model.