In order to plan the cooperative paths for multi-UAVs(unmanned aerial vehicles),a co-evolutionary algorithm is proposed.Initially,a preliminary path is generated,followed by solving for the synergy function and related variables to optimize the path.The primary goal of this process is to identify the optimal cooperative path and flight speed at a given threat level,aiming to minimize the overall threat cost.This approach comprehensively factors in the interactions among multiple drones and external environmental factors,ensuring efficient and safe task execution.Simulations are conducted across various environments,including 2D and 3D spaces,and with different takeoff time intervals.The results demonstrate that the method demonstrates excellent adaptability and effectiveness under diverse complex conditions.This method can effectively address the challenges encountered by multi-UAVs when executing collaborative tasks in complex environments,and lay a foundation for the development and application of related technologies in the future.
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