Multi-Conflict-Based Optimal Algorithm for Multi-UAV Cooperative Path Planning

Multi-UAV cooperative path planning can improve the efficiency of task completion. To deal with space and time conflicts multi-UAVs in complex environments, a multi-collision-based multi-UAV algorithm, multi-conflict-based search (MCBS), is proposed. First, flight constraints UAV are analyzed, three-dimensional environment model established that incorporates geographical information. Then, hierarchical optimization used to design collaborative algorithms. In low-level design, combined sparse A* by improving cost function, reduced, shortened. high-level cooperation, priorities different set, heuristic information introduced guide constraint tree grow direction satisfying constraints, optimal set searched best priority algorithm reduce convergence time. Finally, results proposed traditional CBS for tasks compared, influence parameters on calculation discussed. The simulation show solve conflict between UAVs, searches, quickly find safe satisfies constraints.