Multi-base multi-UAV cooperative patrol route planning novel method

The paper investigates the multi-base multi-UAV cooperative patrol route planning problem. The mission requirements and shortcomings of current research are analyzed. A novel method of cooperative patrol route planning is proposed. Firstly, the multi-base multi-UAV cooperative patrol route planning model is established and the complex constraints handling approaches are designed. Secondly, the initial route is generated by the Floyd algorithm, and the optimal solution to the problem is obtained by the improved Push Forward Insertion Heuristic algorithm. Finally, the simulation results show that the proposed algorithm can generate feasible solutions, which can satisfy all the constraints and maximize the patrol revenue under conditions of limited patrol resources.