Cooperative path planning of multiple UAVs based on PH curves and harmony search algorithm

This paper presents a path planning method based on Pythagorean Hodograph (PH) curves and harmony search algorithm for unmanned-aerial-vehicles (UAVs) in complex environments, especially in urban environment and mountainous circumstances. The flyable paths are tuned to meet spatial demands, satisfy kinematical and dynamic constraints of the UAVs, and guarantee no collision course between any two vehicles as well as obstacles. Then, a modified harmony search algorithm (MHS) is presented to solve the proposed path planning problem. Finally, two experiments are carried out to prove the feasibility.

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