This paper proposes a multi-UAVs coordinated trajectory planning method based on hierarchical planning, aiming to solve the problem of flight path planning and speed adjustment of multi-UAVs when performing coordinated tasks. In this paper, the planning process is divided into a single aircraft trajectory planning layer and a multi-UAVs time coordination layer: in the single aircraft trajectory planning layer, the DPB-SAS algorithm is proposed by combining the Dubins path and the improved sparse A* algorithm. Considering the flight performance constraints, threat avoidance in the environment and other conditions, a smooth trajectory that meets the flight safety is generated; in the multi-UAVs time coordination layer, according to the flight elapsed time obtained from the single aircraft trajectory planning, an optimisation coordination strategy is adopted to optimise the coupling of the range and speed. The optimisation algorithm takes into account the time of the UAV cluster to reach the target point and the flight energy consumption to ensure that multi-UAVs can reach the target location on time with the lowest loss. The simulation results show that the proposed trajectory planning method can effectively ensure the path safety, time coordination and energy optimisation in the multi-UAVs cooperative task, and has good practicality and adaptability.
Multi-UAVs Cooperative Path Planning Based on DPB-SAS Algorithm in Hierarchical Architecture
2025-05-16
1002699 byte
Conference paper
Electronic Resource
English
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