Multi UAVs Cooperative Reconnaissance Path Planning in Obstacles Environment (IEEE/CSAA GNCC)*

Multiple UAVs cooperative reconnaissance path planning in complex polygonal obstacles environment is presented in this paper. Firstly, different reconnaissance mission models are formulated, such as sensor sensing, effective reconnaissance duration time and so on. Secondly, considering different mission constraints and requirements, a two-step multiple UAVs cooperative reconnaissance path planning framework based on Dubins curve is established. Besides, a heuristic obstacle-free path planning in the presence of polygonal obstacles is designed, which is satisfied with UAV kinematic constraint. The simulation result demonstrates the effectiveness of the proposed algorithm.