Cooperative path planning for multiple UAVs formation

A systematic online path planning method based on the rapidly-exploring random tree (RRT) algorithm to solve the problem of cooperative path replanning for multiple UAVs under timing constraints is proposed in this paper. An improved RRT algorithm based on chaotic sequence is put forward to improve the ergodicity of the traditional RRT algorithm. The improved RRT algorithm is used to partly replan the path to avoid the unexpected threats detected on the way of pre-path. Moreover, a time cooperative reconstruction strategy is put forward to deal with the problem of time cooperativity being destroyed by path replanning. Finally, the simulations are carried out to verify the effectiveness of the proposed cooperative path planning method.