A Multi-target Path Planning Method for UAV Considering Distribution Constraint of Path Nodes

The planning path of UAV needs to meet a variety of constraints, and the path planned by different weight combinations is also different. In order to reduce the influence of weight on the quality of path planning, this paper adopts NSGA-III algorithm for UAV path planning. Firstly, the task environment model of UAV is established, and the distribution constraint of path nodes are established to improve the quality of planning path. Secondly, NSGA-III algorithm is used for multi-objective path optimization, and the approximation to global optimization is realized by objective function normalization method and reference point mechanism. Finally, simulation experiments are carried out to verify the applicability of the algorithm. The experimental results show that the proposed algorithm can plan a variety of paths under the constraint conditions, and the algorithm has good convergence and high efficiency, which has certain practical significance in engineering.