Abstract:

To solve the coordination of rendezvous and collision avoidance of multiple air vehicles, a novel cooperative trajectory planning method based on sparse A* algorithm in 3D environment is proposed. This method introduces a new planning frame, which takes the coordination problem into account before and during the trajectory searching process. During the searching process, the method gives considerations to both the original constrains of every trajectory and the collision check between multiple trajectories. 〖JP2〗Meanwhile, the method could do a heuristic search with some cost factors such as the uncoordinated value and etc. This cooperative planning method can process various constrains effectively and simplify the heuristic factor to get a good performance.