Collaborative Path Planning for Multiple Unmanned Aerial Vehicles to Avoid Sudden Threats
Xia Chen, Miaoyan Zhao · 2019
This paper concerns collaborative path planning for multiple unmanned aerial vehicles to avoid sudden threats. Firstly, using V-diagram and mission assignment model to obtain multi-UAV path planning in a pre-established environment with obstacles. Then, after a sudden threat, the principle of cubic spline second-order continuity and boundary conditions are used for local planning. After that, setting the total cost function to get the most suitable candidate path. Finally, using the principle of crowding mechanism and setting the priority probability, the secondary security screening is performed to get the optimal candidate path. Simulation results show the effectiveness of the proposed method.