Real-time path planning for multi-UAVs with share of threats information

In this paper, a real-time path planning approach in consideration of threats information sharing is proposed for multiple unmanned aerial vehicles (UAVs) with predetermined rendezvous in hostile environment. This approach obtains turn angles in two-dimensional (2-D) rough terrain by fuzzy reasoning with feedback on rule base. Virtual subgoal is defined and applied to make full use of the threats information and avoid iterations of previous trajectory. The path planning is classified into three behaviors: path-searching (PS) behavior in the regional range, goal-seeking (GS) and virtual goal seeking (VGS) behavior in the global range. The UAVs detect threats information in real-time and share the information with each other. Target planner coordinates the GS and VGS according to all the known threats information and UAV's real-time position. Finally, simulations prove that the proposed approach gives good and satisfactory results.