Cooperative control for UCAVs path planning

Based on analyzing the characteristics of the co-evolutionary theory, the cooperative performance of co-evolutionary algorithm realized airspace cooperation for multi-UCAV cooperation path planning problem. While constraining the UCAV to arrive at the target simultaneously, a decomposition strategy was proposed, and the application of the coordination variable and coordination function approach was applied to multi-UCAV cooperation path planning problem. The simulation results show that the method could solve multi-UCAV cooperation path planning problem effectively.