Multi-UAV Cooperative Path Planning with Monitoring Privacy Preservation

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