Multi-UAVs Trajectory Planning Method with Coordinated Attack Angle-Time Constraints

Multi unmanned aerial vehicles (multi-UAVs) coordinated ground attack is an important part of regional sealing and suppression tasks. This paper takes this task as the background to carry out research on multi-UAVs cooperative trajectory planning. Based on this, a multi-UAVs trajectory planning method considering cooperative attack angle and time constraints is proposed. First, the problem is described as a directed graph based on graph theory, the UAV is equivalent to the Dubins Car model, and the constraint model of trajectory avoidance, obstacle avoidance, attack time, and attack angle is given. The total track length is taken as the optimization objective, and the genetic algorithm is designed to solve the problem. The simulation results show that the genetic algorithm can solve the problem, and the designed method has good engineering application value.