Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments

Zhenrong Xu; Changyu Bi; Jiaqi Jiang; Yankai Wang; Jianan Wang

doi:10.1007/978-981-92-4392-1_39

Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments

Zhenrong Xu
, Changyu Bi
, Jiaqi Jiang
, Yankai Wang
, Jianan Wang^*

^*Corresponding author for this work

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper solves the cooperative path planning problem for multiple fixed-wing unmanned aerial vehicles (UAVs) flying at identical speeds, with the goal of achieving synchronization of arrival time at designated targets while avoiding obstacles. An improved Rapidly-exploring Random Trees Star (RRT*) algorithm is proposed, incorporating angular constraints and collision detection between extended lines and obstacles to generate feasible paths within maximally elongated free space. For Dubins paths containing straight segments exceeding four times the minimum turning radius, a geometric path elongation strategy is developed. A planning framework with time consistency is further introduced to achieve synchronization of arrival time by proportionally extending shorter paths to match the longest one, while satisfying curvature constraints. Simulation results demonstrate the effectiveness of the proposed method, enabling three UAVs to achieve synchronization of arrival time in obstacle-rich environments.

Original language	English
Title of host publication	Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies
Editors	Xiaoduo Li, Yichen Li, Zhi Feng
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	483-494
Number of pages	12
ISBN (Print)	9789819243914
DOIs	https://doi.org/10.1007/978-981-92-4392-1_39
Publication status	Published - 2027
Event	9th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2025 - Shanghai, China Duration: 31 Oct 2025 → 3 Nov 2025

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1602 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	9th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2025
Country/Territory	China
City	Shanghai
Period	31/10/25 → 3/11/25

Keywords

Arrival with time consistency
Dubins curve
RRT* algorithm

Access to Document

10.1007/978-981-92-4392-1_39

Cite this

Xu, Z., Bi, C., Jiang, J., Wang, Y., & Wang, J. (2027). Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments. In X. Li, Y. Li, & Z. Feng (Eds.), Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies (pp. 483-494). (Lecture Notes in Electrical Engineering; Vol. 1602 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-92-4392-1_39

Xu, Zhenrong ; Bi, Changyu ; Jiang, Jiaqi et al. / Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments. Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies. editor / Xiaoduo Li ; Yichen Li ; Zhi Feng. Springer Science and Business Media Deutschland GmbH, 2027. pp. 483-494 (Lecture Notes in Electrical Engineering).

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title = "Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments",

abstract = "This paper solves the cooperative path planning problem for multiple fixed-wing unmanned aerial vehicles (UAVs) flying at identical speeds, with the goal of achieving synchronization of arrival time at designated targets while avoiding obstacles. An improved Rapidly-exploring Random Trees Star (RRT*) algorithm is proposed, incorporating angular constraints and collision detection between extended lines and obstacles to generate feasible paths within maximally elongated free space. For Dubins paths containing straight segments exceeding four times the minimum turning radius, a geometric path elongation strategy is developed. A planning framework with time consistency is further introduced to achieve synchronization of arrival time by proportionally extending shorter paths to match the longest one, while satisfying curvature constraints. Simulation results demonstrate the effectiveness of the proposed method, enabling three UAVs to achieve synchronization of arrival time in obstacle-rich environments.",

keywords = "Arrival with time consistency, Dubins curve, RRT* algorithm",

author = "Zhenrong Xu and Changyu Bi and Jiaqi Jiang and Yankai Wang and Jianan Wang",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2027.; 9th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2025 ; Conference date: 31-10-2025 Through 03-11-2025",

year = "2027",

doi = "10.1007/978-981-92-4392-1\_39",

language = "English",

isbn = "9789819243914",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "483--494",

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address = "Germany",

}

Xu, Z, Bi, C, Jiang, J, Wang, Y & Wang, J 2027, Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments. in X Li, Y Li & Z Feng (eds), Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies. Lecture Notes in Electrical Engineering, vol. 1602 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 483-494, 9th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2025, Shanghai, China, 31/10/25. https://doi.org/10.1007/978-981-92-4392-1_39

Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments. / Xu, Zhenrong; Bi, Changyu; Jiang, Jiaqi et al.
Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies. ed. / Xiaoduo Li; Yichen Li; Zhi Feng. Springer Science and Business Media Deutschland GmbH, 2027. p. 483-494 (Lecture Notes in Electrical Engineering; Vol. 1602 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Xu, Zhenrong

AU - Bi, Changyu

AU - Jiang, Jiaqi

AU - Wang, Yankai

AU - Wang, Jianan

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2027.

PY - 2027

Y1 - 2027

N2 - This paper solves the cooperative path planning problem for multiple fixed-wing unmanned aerial vehicles (UAVs) flying at identical speeds, with the goal of achieving synchronization of arrival time at designated targets while avoiding obstacles. An improved Rapidly-exploring Random Trees Star (RRT*) algorithm is proposed, incorporating angular constraints and collision detection between extended lines and obstacles to generate feasible paths within maximally elongated free space. For Dubins paths containing straight segments exceeding four times the minimum turning radius, a geometric path elongation strategy is developed. A planning framework with time consistency is further introduced to achieve synchronization of arrival time by proportionally extending shorter paths to match the longest one, while satisfying curvature constraints. Simulation results demonstrate the effectiveness of the proposed method, enabling three UAVs to achieve synchronization of arrival time in obstacle-rich environments.

AB - This paper solves the cooperative path planning problem for multiple fixed-wing unmanned aerial vehicles (UAVs) flying at identical speeds, with the goal of achieving synchronization of arrival time at designated targets while avoiding obstacles. An improved Rapidly-exploring Random Trees Star (RRT*) algorithm is proposed, incorporating angular constraints and collision detection between extended lines and obstacles to generate feasible paths within maximally elongated free space. For Dubins paths containing straight segments exceeding four times the minimum turning radius, a geometric path elongation strategy is developed. A planning framework with time consistency is further introduced to achieve synchronization of arrival time by proportionally extending shorter paths to match the longest one, while satisfying curvature constraints. Simulation results demonstrate the effectiveness of the proposed method, enabling three UAVs to achieve synchronization of arrival time in obstacle-rich environments.

KW - Arrival with time consistency

KW - Dubins curve

KW - RRT algorithm

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DO - 10.1007/978-981-92-4392-1_39

M3 - Conference contribution

AN - SCOPUS:105050795464

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BT - Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies

A2 - Li, Xiaoduo

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PB - Springer Science and Business Media Deutschland GmbH

T2 - 9th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2025

Y2 - 31 October 2025 through 3 November 2025

ER -

Xu Z, Bi C, Jiang J, Wang Y , Wang J. Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments. In Li X, Li Y, Feng Z, editors, Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Decision and Planning Technologies. Springer Science and Business Media Deutschland GmbH. 2027. p. 483-494. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-92-4392-1_39

Cooperative Path Planning with Time Consistency for Fixed-Wing UAVs in Obstacle Environments

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