On collaborative path planning for multiple UAVs based on Pythagorean Hodograph curve

A collaborative path planning method for multiple UAVs based on Pythagorean Hodograph(PH) curve under time and angle constraints is presented in this paper. The PH curve is applied to perform path planning for UAV in this method, which considers the curvature constraint of UAV path, and the angle cooperation of reaching target point for multiple UAVs is integrated into the initialization conditions of collaborative path planning. In addition, in order to realize time cooperation of reaching target point for multiple UAVs, the `quasi linear' relationship between the length of PH path and control parameters is deduced and obtained. Simulation results verify the validity and feasibility of the method that is collaborative path planning for multiple UAVs based on PH curve under time and angle constraints.