HDP-TSRRT*: A Time–Space Cooperative Path Planning Algorithm for Multiple UAVs

This paper proposes a fast cooperative path planning algorithm for multiple UAVs that satisfies the time–space constraints, namely, RRT* based on heuristic decentralized prioritized (HDP-TSRRT*), which takes into account simultaneous arrival time variables of each UAV as well avoidance conflicts and threats. HDP-TSRRT* is hierarchical decoupling algorithm. First, all pre-paths are planned simultaneously at synchronous level. Second, coordination level, (HDP) proposed to quickly complete process sequence. strategy assigns reasonable robust priority performance evaluation function composed number potential collisions violation collaboration pre-planned path. Third, constraints-based (TSRRT*) single-machine Based this, uses sampling cost strategies guide expansion new nodes, then optimizes neighborhood nodes so improve efficiency planning. Simulation comparison show has certain advantages in performance.