Coordinated path planning for Multi-UAVs based on critical track points

Multi-UAVs cooperative trajectory planning (MUCTP) refers to planning a number of safe, reliable and non-collision from each UAV starting point to the target point in known, partially known or unknown environment. In the planning process, it is necessary to consider the constraints of the UAV itself and the synergistic restriction relationship. Therefore, in order to improve the efficiency of collaborative path planning, a multi-UAVs collaborative path planning algorithm based on key path points is proposed in this paper. In this algorithm, the gene location representation method of individual population was defined, the feasible domain of three-dimensional space was set, and the objective function was constructed by combining the constraint conditions. The experimental results show that the algorithm proposed in this paper has fast convergence speed and strong synergistic ability in multi-UAVs cooperative path planning, which makes the planned track group more reasonable.