Research on Multi-UAV Cooperative Trajectory Planning
Lin Li · Beijing Youdian Xueyuan xuebao · 2013
A path balancing based ant colony optimization approach was presented. At first,in view of coordinated trajectory planning in dynamic and uncertain environments,the congestion factor was adopted to avoid collision between unmanned aerial vehicle( UAVs). Then,for time cooperation,the variable cooperative voyage was used to synchronize the arrival time of each UAV. With these premise of spacetime collaborative,the trajectory for UAV fleet with minimum costs was selected. Simulation demonstrates the feasibility and the effectiveness of the proposed approach under complicated environment.