ADOS

Main code for my article: A Distributed Adaptive Route Planning Optimization Algorithm for UAV Swarm, is now under review.

Before running, a toolbox should be installed: https://github.com/mattools/matGeom

Some of the code information is as follows:

• Drone.m, Obstacle.m: they are class of UAVs and obstacles, including some properties and methods;
• H.m, heaviside.m: some mathematical functions;
• insertsectCuboid.m, insertsectCylinder.m: to determine whether the ray intersects with a box/cylinder and return the intersection point;
• isInCuboid.m, isInCylinder.m: to determine whether the drone is in an obstacle;
• calculateF.m: to calculate value F;
• main_cuboid.m, main_cylinder.m: are the main programs, the former has a cuboid wall, while the latter has many cylinders.
• plot_H_exp.m, viewline.m: some functions to plot details;
• optimizer.m,main_optimize.m: used to optimize parameters in the model.

More details are accessible by contacting me: qcxu0220@163.com