Decentralized Multi-UAV Path Planning Based on Two-Layer Coordinative Framework for Formation Rendezvous

Unmanned aerial vehicle (UAV) formation rendezvous path planning problem is one of the important research topics in multiple UAV (multi-UAV) coordinated planning. Aiming at solving low computational efficiency and poor scalability traditional multi-UAV method, decentralized method suitable for obstacle environments proposed. Firstly, with constraints such as kinematics UAVs collision-free modeled a non-convex optimal control problem. To minimize time energy consumption, two-layer coordinative framework developed to solve this In coordination layer, relying only on information neighboring UAVs, each communication graph negotiates desired flight using consensus protocol achieve among UAVs. initial decoupled into several sub-problems, which can be solved parallel by planners distributed sequential convex programming. Finally, numerical simulations are carried out verify effectiveness proposed method. The results show that handle minimum-time optimize consumption flight, computing does not increase significantly enlargement swarm. This scales well number applied future urban supplies delivery tasks.