Research on UAV cooperative formation and path planning algorithm

摘要

Unmanned ship technology is a derivative of the development of robotics, which has been gradually applied in maritime search and rescue, water quality monitoring and management, military reconnaissance and other fields. There are two core problems in the research of unmanned ship technology: cooperative formation and path planning, that is, how to keep the relative geometry and avoid obstacles in real time when the unmanned ship moves on the global optimal path. To solve the above problems, this paper proposes the base leader-follower method and the improved A* algorithm for the cooperative formation and global path planning of unmanned ships.