Multi-UAV Virtual Tube Planning Based on the Artificial Potential Field-A* Algorithm and the Douglas–Peuker Algorithm
Jinjun Rao, Lingjia Ke, Qinfei Zhao, Zhenwei Li, Wojciech Giernacki, Jinbo Chen, Jingtao Lei, Mei Liu · Unmanned Systems · 2025
Multi-UAV cooperative flight is a significant research area, and the emergence of virtual tube technology offers a novel approach for UAV cooperative flight. To improve the width and smoothness of the traditional virtual tube, this paper optimizes the generator curve of the traditional virtual tube based on the artificial potential field A* algorithm, Douglas–Peuker screening strategy, and then adjusts the generating radius of the virtual tube by introducing the relaxation variables. The results indicate that the virtual tube’s width and smoothness are enhanced, and the UAV’s operational range is extended, demonstrating the feasibility of the improved scheme.