Planning three-dimensional collision-avoidance path for UAV on the basis of disturbed fluid dynamical system algorithm

Considering the invasion of multiple unmanned aerial vehicles (UAVs), we develop a novel method for planning a three-dimensional collision-avoidance path on the basis of the interfered fluid dynamical system (IFDS) algorithm and the interacting multiple-model (IMM) algorithm. Firstly, we apply the IFDS algorithm to the case of single intruder, and analyze the characteristics of the algorithm. Secondly, the improved IFDS is used to obtain a three-dimensional collision-avoidance path in the case of multiple intruders, and the IMM algorithm is used to track and predict the state of multiple maneuvering intruders; and then, the receding horizon optimization method is applied to dynamically optimize the local collision-avoidance path by adjusting the affective coefficients with the performance constraint. Finally, a threedimensional collision-free and feasible path can be obtained. Simulation results indicate that the improved algorithm meets the real-time requirements and produces a smooth collision-free path in the case of multiple intruders.