@inproceedings{212553208dbd451c849efaf25c0f4ab1,
title = "Coupling-Degree-Based Heuristic Prioritized Planning Method for UAV Swarm Path Generation",
abstract = "This paper presents the coupling-degree-based heuristic prioritized planning method (CDH-PP) to improve the efficiency and robustness of swarm path planning. The proposed method decouples the swarm path generation problem into a series of single-UAV path planning problems. And the couplingdegree-based priority heuristic generation criterion is tailored to determine the planning order of UAV swarms. The swarm coupling degree matrix is established to determine the coupling relations among UAV swarms based on the collision-detection algorithm. Anytime repairing sparse A∗algorithm (AR-SAS) is adopted to plan path for single-UAV considering obstacles and inter-UAV collisions. Simulation results show the proposed CDH-PP method can generate collision-free paths for UAV swarms. And the comparative studies with the random prioritized planning and distance-based heuristic prioritized planning method demonstrate higher computational efficiency and robustness of CDH-PP.",
keywords = "Coupling-degree, UAV swarms., algorithm, anytime repairing sparse A, cooperative path planning, prioritized planning",
author = "Hui Li and Teng Long and Guangtong Xu and Yangjie Wang",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 Chinese Automation Congress, CAC 2019 ; Conference date: 22-11-2019 Through 24-11-2019",
year = "2019",
month = nov,
doi = "10.1109/CAC48633.2019.8997273",
language = "English",
series = "Proceedings - 2019 Chinese Automation Congress, CAC 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3636--3641",
booktitle = "Proceedings - 2019 Chinese Automation Congress, CAC 2019",
address = "United States",
}
