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Reconnaissance mission has a wide application in both civil and military fields, which provides intelligence and basis for the following decision-making to accomplish certain goals. Due to numerous advantages of UAV swarms such as strong flexibility, high efficiency, and low cost, conducting reconnaissance missions by UAV swarms has become a trend of future. However, the path planning problem of UAV swarms is a key challenge in the aspect of model construction, algorithm, selection and high computational complexity, especially when the mission is complicated. In this paper, various distributed particle swarm optimization (DPSO)-based path planning algorithms are proposed for UAV swarms conducting a reconnaissance mission, in which targets are gathered in the form of clusters and different tactic needs are taken into consideration. Three algorithms named the maximum density convergence DPSO algorithm (MDC-DPSO), the fast cross-over DPSO algorithm (FCO-DPSO), and the accurate coverage exploration DPSO algorithm (ACE-DPSO) are proposed correspond to the needs of fast convergence, random cross-over, and accurate search, respectively. Different fitness functions and search strategies are specifically designed considering the mobility and communication constraints of the UAV swarms. Besides, the jump-out mechanism and revisit mechanism are designed to save invalid search efforts and avoid falling into local optimum. The simulation results demonstrate that the proposed algorithms are effective in generating paths for UAV swarms conducting a reconnaissance mission, which can be easily applied to large scale swarms.

Reconnaissance Mission Conducted by UAV Swarms Based on Distributed PSO Path Planning Algorithms