Unmanned plane multi-track planning method based on sequence ecological niche PSO (particle swarm optimization) algorithm

The invention relates to an unmanned plane multi-track planning method based on a sequence ecological niche PSO (particle swarm optimization) algorithm, and belongs to the technical field of unmanned plane multi-track planning. The method comprises the steps: carrying out the modeling of a to-be-planned problem, and constructing a track cost function and a constraint condition; carrying out the first planning of a model through employing the PSO algorithm, and obtaining a first track; updating a cost function model nearby a current optimal track through combining the technology of sequence ecological niche, and increasing the cost values of other optimal tracks in the sequence ecological niche; carrying the next planning of the updated model through employing the PSO algorithm, and obtaining a sub-optimal track; repeatedly carrying out the above two steps, sequentially finding the optimal track and the sub-optimal track of an initially constructed cost function model, ending the algorithm when the number of f