Path Planning of Multi-UAVs Concealment Attack Based on New A* Method

For the route planning problem of multi-UAVs hidden depth strike, a improved variable step length A* optimization search algorithm is proposed based on UAVs kinematic equations. And for multi-UAVs cooperative route planning problem, we propose a multi-UAVs time and space consistency of coordinated attacks fast algorithm. Simulation results show, the improved variable step A* optimization search algorithm can significantly reduce the computational complexity of time and space, improve efficiency and achieve the optimal search strategy rationality and trajectory. The time coordination and the space coordination function achieve multi-UAVs Air-to-ground attack route planning, keep in time and space of collaborative, generates three-dimensional cooperative routes, meet the need of multi-UAVs performance requirements.