Research on cooperative path planning based on one new search algorithm

For multi-aircraft formations attacking cooperatively on targets, a new optimal path search algorithm and time cooperative control method is proposed. Firstly, the Voronoi diagram is used to establish route model available for flight, according to the position of the threat points in the battlefield. Then, an optimal route search algorithm combined Dijkstra search algorithm with K optimization algorithm is put forward to solve the problem of the first K optimal paths. Furthermore, a time cooperative control method is presented to build multi-aircraft path planning system model and solve the problem of cooperative path planning for multiple aircrafts. Finally, the simulation results for two aircraft formations show that feasibility and effectiveness of the proposed approach.