ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Multi-UAV cooperative path planning based on multi-index dynamic priority
Received date: 2023-04-04
Revised date: 2023-05-05
Accepted date: 2023-09-06
Online published: 2023-09-13
Supported by
National Natural Science Foundation of China(61903033);The Fundamental Research Funds for the Central Universities(2020MS116)
To save operation costs and increase efficiency for collaborative inspection, distribution, and other tasks of multiple Unmanned Aerial Vehicles (UAVs) in complex urban environments, a cooperative path planning method is proposed based on multi-index dynamic priority. A dynamic priority model is constructed through a comprehensive consideration of the indices such as collision risk, total distance, and waiting time. Under the priority-based unilateral collision avoidance mechanism, a combined avoidance strategy is customized to handle local conflicts, so as to balance the planning efficiency and route quality. For individual path planning, a congestion weighted map is introduced into the Lazy Theta* algorithm to guide UAV to avoid congested areas and reduce the conflict possibility. Comparative simulation experiments show that the proposed individual planning algorithm can reduce congestion areas and congestion duration, and the proposed multi-index dynamic priority cooperative planning algorithm can improve planning efficiency and route optimality compared to the flight-time driven dynamic priority.
Zhu WANG , Mengtong ZHANG , Zhenpeng ZHANG , Guangtong XU . Multi-UAV cooperative path planning based on multi-index dynamic priority[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2024 , 45(4) : 328816 -328816 . DOI: 10.7527/S1000-6893.2023.28816
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