Dual Redundant UAV Path Planning and Mission Analysis Based on Dubins Curves

Abstract

UAV cluster mission planning is an optimization problem with multiple objectives, strong coupling, and constraints. Aiming at the task planning problem of hybrid dynamic target cooperative search in UAV cluster detection, this paper introduces the tracking curves of Dubins to study the complex scenes of multiple target types. We study the Dubins tracking curve, and the Dubins tracking method is proposed to solve the search-tracking multi-task problem in UAV cluster detection. Experimental results show that ten UAV dynamics constraints and tracking distance limitations can be satisfied by adding Dubins tracking curves.