Research on Method of Multiple UAVs Cooperative Path Planning
Chang Liu · Flight Dynamics · 2003
An initial path from the projection start position to the target position can be devised by constructing a Voronoi diagram based upon the locations of the threats. Then the initial path is discretized for adjustment and smoothing. At last the desirable paths to the target are obtained by simulating the dynamic chain in a potential field. The result for multiple vehicles is a set of smooth and flyable paths with equal length that reduces exposure to threats. This is the path planning strategy developed for the coordinated multiple unmanned vehicles(UAVs). The simulation result shows that this strategy works well and makes it possible for the simultaneous arrival of multiple UAVs at the target.