Research on Multi-UAV Cooperative Dynamic Path Planning Algorithm Based on Conflict Search

Abstract

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.