Improved A* and DWA Based Dynamic Trajectory Planning Algorithm for Multi-UAVs Formation

A dynamic trajectory planning algorithm for leader-follower Multi-UAVs formation is proposed, which is composed of the improved A* and dynamic window algorithm (DWA). It aims to address trajectory planning, obstacle avoidance and formation maintenance problems in dynamic environment. Firstly, a hybrid trajectory planning strategy which contains global and local planning is investigated. An improved A* with a novel node selection and a bi -directional path smoothing method is developed to achieve global planning for the leader. On the basis of the generated global trajectory, DWA is transformed into the linear velocity space to realize local planning for multi - UAVs formation, moreover rolling windows is introduced to cut down its computation. Then, the leader-follower based multi-UAVs formation dynamic trajectory planning problem is modeled utilizing the consensus principle. It is solved through the proposed hybrid algorithm. Finally, simulation results are presented to validate the fine performance of the designed algorithm.