A fuzzy virtual force based approach to multiple UAVs collaborative path planning

Multiple UAVs collaborative operation which has high-level of autonomy will be an important mode of the future war. Fuzzy Virtual Force is proposed to solve the problems of collision avoidance and simultaneous arrival in collaborative UAVs path planning. Collision is avoided based on extended threats from which the repulsions are utilized to optimize the space of UAVs and to ensure their safety. The estimated time until arrival is used to regulate the flight speed by iteration to achieve the simultaneous arrival. Simulation results demonstrate that the proposed approach is feasible and useful to fulfill the purpose of collaboration of space and time.