Collision-Free Trajectory Planning for Multi-UAV Coordinated Ground Attack Mission under Uncertainties

To cope with the uncertainties of position and arrival time of UAVs during trajectory planning, a trajectory optimization method considering timing constraints to eliminate collisions in the multi-UAV cooperated ground attack mission. Firstly, characteristics of multi-UAV coordinated ground attack missions are analyzed, and a mission model of coordinated attacking is established. Secondly, a trajectory collision degree function is introduced. Collisions can be eliminated by changing control variables of flight time, trajectory and flight height. Simulation results show feasibility and applicability of the proposed method in solving the collision-free trajectory planning problem.