Abstract
Unmanned Aerial Vehicles play a crucial role in various operations
especially where human life must be protected. This work presents an
adaptable intelligent system suitable to enhance the efficiency and
effectiveness of drone swarm operations in a 3D dynamic environment. The
system incorporates several modules, including an Ant Colony
Optimization (ACO)-based path planning algorithm, collision avoidance
mechanism, messaging system, and a hybrid navigation approach, which
evaluates the application requirements to decide to prioritize the
desired formation of the swarm or the path length and flight time. The
proposed system is adaptable and can optimize to several optimization
parameters, including solution quality, time consumption, mission
completeness, and average divergence. The experiments show that the
system consistently provides high-quality paths, achieving around 97%
path quality in most cases, and never declines below 90%, even in
challenging scenarios. The collision avoidance module ensures 100%
mission completeness successfully navigating drones around obstacles and
maintaining an optimal path. Moreover, the hybrid navigation approach
demonstrates the ability to maintain desired formations while
dynamically adapting to obstacles. The systemâ\euro™s performance
shows its potential for real-world applications, ensuring efficient and
autonomous operations in different missions.