Triple‐stage path prediction algorithm for real‐time mission planning of multi‐UAV
X.Y. Sun, Yanfang Liu, Weiran Yao, Naiming Qi · Electronics Letters · 2015
A triple‐stage path prediction algorithm is proposed for real‐time mission planning. In every planning horizon, each unmanned aerial vehicle (UAV) utilises the A* algorithm first to estimate the path to every task. Then, the estimated result serve as the input of the cluster method to generate the quasi‐optimal task assignment. The shortest path to the assigned task is further calculated using the A* algorithm. Finally, it is smoothed to obtain the flyable reference path to guide the UAV by using the cubic B‐spline curve. Numerical experiments demonstrate the effectiveness and efficiency of the proposed algorithm.