Considering of the dynamic cooperative path planning problem of multiple UAVs in complex environments, this paper further considers the flight constraints, space coordination, and fast re-planning of UAVs after detecting sudden obstacles on the basis of conflict-based search algorithm (CBS). A sparse CBS-D* algorithm is proposed as a cooperative dynamic path planning algorithm for UAVs in sudden threats. The algorithm adopts the two-layer planning idea. At the low layer, a sparse D* algorithm, which can realize the 3D dynamic path planning of UAVs, is proposed by combining the dynamic constraints of UAVs with the D* algorithm. At the high layer, heuristic information is introduced into the cost function to improve the search efficiency, and a dynamic response mechanism is designed to realize rapid re-planning in the face of sudden threats. The simulation results show that the proposed algorithm can deal with the UAV cooperative dynamic path planning problem in a complex environment more quickly and effectively.
Research on Multi-UAV Cooperative Dynamic Path Planning Algorithm Based on Conflict Search
2024
Article (Journal)
Electronic Resource
Unknown
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