Cooperative Path Planning for Multiple UAVs Exploring an Unknown Region

In this paper, we propose a cooperative path planning technique for multiple UAVs that need to cover an unknown region in the presence of obstacles. The UAVs are subjected to limited sensor range, limited communication range and minimum turn radius constraints. A world map of the unknown region is dynamically created based on the information obtained from sensors and others agents. The UAVs use the map to generate feasible and safe paths. The cooperative path planning technique selects a path from the feasible set of safe paths in coordination with other UAVs using a dynamic leader approach. The path planning technique takes UAV deconfliction into account. Simulation results are presented to verify that the UAVs cover the entire region while satisfying the constraints.