A Four-Dimensional Space-Time Automatic Obstacle Avoidance Trajectory Planning Method for Multi-UAV Cooperative Formation Flight

Trajectory planning of multiple unmanned aerial vehicles (UAVs) is the basis for them to form formation flight. By considering trajectory UAVs in flight three-dimensional space, a method four-dimensional space-time proposed which, firstly, according configuration, adopts Hungarian algorithm optimize task allocation. Based on that, by safety formation, hierarchical decomposition innovatively put forward with spatial positions and time constraints both considered. It applied automatic obstacle avoidance under condition no communication available between formation. The simulation results illustrated that effective cooperative advance UAVs. Meanwhile, it has been tested Swarm Unmanned Aerial System project boasts quite significant value engineering applications.