A Hierarchical Optimization Strategy of Trajectory Planning for Multi-UAVs
Ning Bo, Xiangmin Li, Jinjin Dai, Jiayu Tang · 2017
A hierarchic optimization strategy based on path planning and trajectory planning process is presented in this paper to solve the trajectory planning problem of multiple unmanned aerial vehicles(multi-UAVs). Firstly, a model of path planning considering obstacle constrains is established, and a variable step size Sparse A * Algorithm (SAS) is proposed to overcome the disadvantages of the fixed step size. And the path planning process is simulated. Secondly, The trajectory planning strategy is established based on Decentralized Model Predictive Control(DMPC). Taking UAV flight kinematics and collisions avoidance constraints into account, the DMPC single-step nonlinear programming model is established and solved by optimization toolbox of MATLAB. Compared with the traditional trajectory optimization methods, the strategy proposed is better at real-time to search a better solution.