Multi-UAV Collaborative Online Obstacle Avoidance Track Planning
Yingyi Tong, Wenhan Dong, Chen-Fei Zhai · 2020
Aiming at the problem of online cooperative flight trajectory planning for multiple UAVs, a curvilinear trajectory planning method based on velocity obstacle method is proposed. The three-dimensional model of mission planning battlefield is established by using satellite elevation data. An improved Pythagorean Hodograph (PH) curve trajectory planning method is proposed for the problem of curvature constraint in UAV track planning. By introducing the adaptive chaos optimization strategy into the estimation distribution algorithm, an estimation distribution algorithm based on adaptive chaos optimization (AC-EDA) is presented to avoid blind trial and error of curve programming parameters. The improved particle sedimentation method is used to extend the two-dimensional trajectory to three-dimensional space, and the principle of the velocity obstacle method is combined with the PH curve planning method to find a suitable insertion point when facing the threat of a dynamic target, and realize the combination of curved trajectory planning and obstacle avoidance behavior.