Multi-UAV online path planning algorithm based on improved Hybrid A*

Real-time path planning of multi-UAV includes obstacle avoidance and anti-collision, which is an important condition to ensure the coordinated operation of multi-UAV. This paper studies a multi-UAV online path planning algorithm based on improved Hybird A *. Each UAV uses the Hybird A * algorithm for distributed path planning. Through the collision risk assessment of the planned path, if there is a collision risk, the path adjustment is based on the defined UAV priority level and interactive information. In this paper, the existing two-dimensional velocity obstacle model is improved, and a three-dimensional velocity obstacle model suitable for 6-DOF UAV is constructed to calculate the safe speed range of UAV. As the optimization constraint condition, the path is adjusted based on the potential field method to achieve the effect of obstacle avoidance and collision avoidance. Finally, the simulation system and experimental platform are built to verify the real-time and stability of the proposed algorithm.