LAUSR

This paper studies the optimal flight path selection problem of unmanned aerial vehicle (UAV) formations in multi-obstacle areas. According to the characteristics of wireless ultraviolet (UV) light communication conforming to the probability coverage model, a wireless UV light self-organizing network coverage model is proposed; the UV light of different wavelengths is divided into a detection area, communication area, and early warning area. A consensus algorithm with leaders and followers is designed, and an artificial potential field method is introduced to ensure that the UAV formation successfully avoids obstacles. Simulation results show that the UAV formation can choose a reasonable flight route under the improved algorithm, and the average obstacle avoidance time is reduced by 6.75 s compared with the original algorithm. Comparing the flight paths of formations in barrier-free and multi-obstacle environments, the obstacle avoidance range of UAVs is not more than 1 m. The UV light self-organizing coverage model can be applied to military communications and disaster relief.