关键词: 关键词：路径规划, 烟花算法, 深度信息交换策略, Levy分布

Abstract: Abstract: In this paper， the path planning of multiple UAVs in complex environment is studied， and the objective function satisfying the constraints is designed. At the same time， aiming at the shortcomings of fireworks algorithm in global convergence and local convergence， an improved fireworks algorithm is proposed. In the process of generating variation spark， Levy variation is used instead of Gaussian variation to generate variation spark， and the problem that the algorithm is easy to fall into local optimal at the origin is avoided. In addition， in order to improve the locality of the fireworks algorithm and the information exchange between individuals， a deep information exchange strategy is introduced to select the next generation of sparks. By comparing the improved fireworks algorithm with other intelligent optimization algorithms， the simulation results show that the improved fireworks algorithm has significant advantages in convergence speed and stability， and can better carry out multi-UAV path planning. 

Key words: Key words: path planning, fireworks algorithm, deep information exchange strategy, Levy distribution