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This paper presents a multi-stage optimization framework for multi-UAV path planning in complex urban 3D environments, focusing on efficient task allocation, global path planning, and obstacle avoidance. The proposed method utilizes an enhanced Ant Colony Optimization algorithm and a hybrid approach combining A* and Rapidly-exploring Random Trees for navigating obstacles, ensuring collision-free paths while minimizing energy consumption and flight time. Extensive simulations demonstrate the framework

Author

strahma4

Language

EN