Multi-aircraft Path Planning Method for Cooperative Mission

Multi-aircraft swarm and autonomous collaboration are inevitable trends in future development, and this paper mainly studies the multi-aircraft cooperative trajectory planning problem model and collaborative search algorithm. Based on the traditional single path planning method, a collaborative trajectory planning strategy is proposed. Based on the spatiotemporal requirements of collaborative tasks, a constraint model is established, and a cooperative path cost model is established by comprehensively considering path synergy and flyability, so as to complete the modeling of path planning problems for collaborative tasks. Aiming at the initial divergence problem in traditional collaborative path planning, a collaborative range model that is updated synchronously with node search is proposed, and an improved cooperative A* path planning algorithm is proposed, which realizes path planning for multi-aircraft collaborative missions. Based on the typical mission environment, the proposed method is simulated, and the feasibility and correctness of the proposed algorithm for solving the multi-aircraft cooperative trajectory planning problem under complex space-time constraints are verified.