TY - GEN
T1 - Multi-aircraft Path Planning Method based on Cooperative Search A-star Algorithm
AU - Su, Heng
AU - Yun, Hongquan
AU - He, Jingwen
AU - Zhang, Feng
AU - Wang, Yue
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Compared with the single aircraft system, multiaircraft cooperative system has the advantage in multiple complex tasks. This paper mainly focuses on the modeling of the constraints and studies the search algorithm in the cooperative path planning problem. Firstly, based on the constraint of time, space and navigation, the cooperative strategy, cooperative constraint and the cooperative cost are modeled respectively. Then the cooperative search A-star algorithm which solves the path planning problem including condition of multi-aircraft simultaneous arrival and multi-angle arrival is proposed. Finally, the simulation of cooperative path planning is carried out, and the results show that the algorithm can be used to solve the multi-aircraft path planning problem with complex spacetime constraints.
AB - Compared with the single aircraft system, multiaircraft cooperative system has the advantage in multiple complex tasks. This paper mainly focuses on the modeling of the constraints and studies the search algorithm in the cooperative path planning problem. Firstly, based on the constraint of time, space and navigation, the cooperative strategy, cooperative constraint and the cooperative cost are modeled respectively. Then the cooperative search A-star algorithm which solves the path planning problem including condition of multi-aircraft simultaneous arrival and multi-angle arrival is proposed. Finally, the simulation of cooperative path planning is carried out, and the results show that the algorithm can be used to solve the multi-aircraft path planning problem with complex spacetime constraints.
KW - constraint modeling
KW - cooperative search A-star algorithm
KW - path planning
UR - http://www.scopus.com/inward/record.url?scp=85080947439&partnerID=8YFLogxK
U2 - 10.1109/ICUS48101.2019.8995994
DO - 10.1109/ICUS48101.2019.8995994
M3 - Conference contribution
AN - SCOPUS:85080947439
T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
SP - 267
EP - 272
BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Y2 - 17 October 2019 through 19 October 2019
ER -