Timing problem for UAV online cooperated trajectory planning

An online cooperated trajectory planning approach under timing constraints is presented. Firstly, the cooperated trajectory planning adopts the time advancing mechanism to match the constraints of information transfer interval. Secondly, the cooperated function is analyzed, the distributed autonomous computing method of the cooperated variable is designed and used to solve the cooperated timing problem. Two types of timing problem to simultaneous arrival and tight sequencing arrival are considered and simulated. Simulation results demonstrate that the approach can rapidly obtain the online real-time cooperated trajectory under timing constraints.