Research On Cooperative Path Planning For Two Unmaned Aerial Vehicles

Cooperation of multiple UAVs can shorten execution time, improve completion quality of tasks, and take full advantage of air fleet, which is an inevitable developing trend. As the flight environment becomes increasingly complex, cooperative path planning technology gradually becomes an important means to ensure autonomous safe flight of multiple UAVs system and it is of important research significance. This paper mainly studies cooperative path planning technology for two UAVs during their cruise phase. With velocity vector field method as the core, cooperative path planning algorithm is committed to generate feasible flight path for two UAVs and realize their coordination in space and time during planning.Firstly, coordinated relationship of two UAVs is defined, which makes research objective clear. Then mathematical modeling is carried out on the cooperative path planning problems in two-dimensional space, and coordinated control model for two UAVs is established. Thus planning space is converted to interaction space of the velocity vector field, and mathematical description of formation problems for two UAVs is completed.Secondly, coordinated control method for two UAVs is designed. A fusion method of leader-follower method, Motor Schema structure and the velocity vector field method is proposed. Computing method of resultant velocity is modified. The velocity components are superposed as vectors after multiplying by real-time configurated control parameters, which can guarantee dynamic adjustment of planning velocity according to the actual environment.Then, roadmap guiding method is adopted to solve the local trap problems. UAV constraints fusion method is discussed, minimum turning radius constraint fusion and track collision free constraint fusion are realized. To ensure coordinated relationship, two coordination mechanisms of temporary target point selection and detection step adjustment are applied. Environment updating method is studied and local updating strategy is used for dynamic environment.Finally, the simulation testing software is developed, and verification of the algorithm is completed. The simulation results show that: the designed cooperative path planning algorithm is reasonable, feasible and fast, which can realize coordination between two UAVs effectively.