Abstract
Past swarm intelligence algorithms for solving UAV path planning problems have suffered from slow convergence, lack of complex constraints and guidance for local optimisation. It no longer meets the requirements of the Multi-UAV Cooperative Reconnaissance Mission Planning (MUCRMP) problem in the context of multi-radar detection. In this paper, a global optimisation model with the objective of a shorter distance within radar detection range of the UAV is proposed at first, including the planning of reconnaissance sequence between and within target groups, relative position to targets. More importantly, the imaging characteristics of the UAV and its minimum turning radius have been considered in depth in this study. Then an improved synthetic heuristic algorithm is proposed to solve the model, which obtains valuable reconnaissance mission plan. Finally, an example solution for a problem with 68 target point sizes is carried out, and the validity and feasibility of the model and algorithm are illustrated through the analysis given. Compared with the existing algorithms, the improved synthetic heuristic algorithm can give better anti-radar attributes to the UAV and efficiently improved the convergence speed in the specific reconnaissance mission.