Coupling-Degree-Based Heuristic Prioritized Planning Method for UAV Swarm Path Generation

摘要

This paper presents the coupling-degree-based heuristic prioritized planning method (CDH-PP) to improve the efficiency and robustness of swarm path planning. The proposed method decouples the swarm path generation problem into a series of single-UAV path planning problems. And the couplingdegree-based priority heuristic generation criterion is tailored to determine the planning order of UAV swarms. The swarm coupling degree matrix is established to determine the coupling relations among UAV swarms based on the collision-detection algorithm. Anytime repairing sparse A*algorithm (AR-SAS) is adopted to plan path for single-UAV considering obstacles and inter-UAV collisions. Simulation results show the proposed CDH-PP method can generate collision-free paths for UAV swarms. And the comparative studies with the random prioritized planning and distance-based heuristic prioritized planning method demonstrate higher computational efficiency and robustness of CDH-PP.