Research on Multi-UAV Path Planning Driven by Multi-dynamic Mission Based on Navigation Vector Field Method

For the complex, variable and dynamical combat scenarios faced by Multi-UAV in the execution of missions in dynamic environments, a Multi-UAV path planning method based on the modified perturbation vector field method in dynamic environments driven by missions is proposed, taking into account the UAV kinematic model, multi aircraft formation model, multi mission model and its various constraints, and establishing a multi mission driven Multi-UAV path planning The mathematical model is developed. A collaborative path planning solution method based on the modified perturbation vector field method is designed to solve the online Multi-UAV path planning problem in the multi-constrained uncertain mission scenario, in view of the complex environment and uncertain mission sequence during the dynamic execution of Multi-UAV missions. Using typical mission examples such as Multi-UAV obstacle avoidance, search, and strike as representative, the method is verified to be able to solve online track planning problems under different missions and constraints through simulations. The simulation results show that the quality of the collaborative path generated by this method is better than that of the artificial potential field method, and can be directly used for Multi-UAV semi-physical online path planning and mission execution.