Multi-UAV Cooperative Path Planning with Monitoring Privacy Preservation

UAVs have shown great potential application in persistent monitoring, but still problems such as difficulty ensuring monitoring frequency and easy leakage of path information. Therefore, under the premise covering all targets by UAVs, it is necessary to improve target privacy protection intention much possible. In response above problems, this research proposes overdue time evaluate period entropy order ability ensure protection. It then establishes a multi-UAV cooperative planning model. addition, multi-group ant colony optimization algorithm, called overdue-aware multiple (OMACO), improved based on time. Finally, an optimal flight for with high strong preservation obtained. The simulation results show that method proposed paper can effectively each node UAV has significance enhancing security preventing intrusion.