Aiming at the flight path planning problem of intelligent UAVs (swarms), this paper designs a "swarm-type" planning strategy, which improves the distributed spatio-temporal trajectory planning method under special scenarios. According to the spatial distribution of UAVs, the UAV swarm is dynamically divided into a number of groups and isolated UAVs, and a "swarm-type" coordination mechanism is established for UAV trajectory conflicts within each group, and the group planning consists of the improved Efficient Multi-Intelligent Aperture Path Finding (EMAPF) and trajectory co-optimization, which significantly improves the efficiency and safety of the planning. The group planning consists of improved efficient multi-intelligence pathfinding (EMAPF) and joint optimization of trajectories, which significantly improves the planning efficiency and safety.
Autonomous planning method for intelligent UAV swarm flight path based on swarm policy
International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023) ; 2023 ; Shenyang, China
Proc. SPIE ; 13071
2024-02-28
Conference paper
Electronic Resource
English
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