Multi-aircraft Path Planning Method based on Cooperative Search A-star Algorithm

Compared with the single aircraft system, multiaircraft cooperative system has the advantage in multiple complex tasks. This paper mainly focuses on the modeling of the constraints and studies the search algorithm in the cooperative path planning problem. Firstly, based on the constraint of time, space and navigation, the cooperative strategy, cooperative constraint and the cooperative cost are modeled respectively. Then the cooperative search A-star algorithm which solves the path planning problem including condition of multi-aircraft simultaneous arrival and multi-angle arrival is proposed. Finally, the simulation of cooperative path planning is carried out, and the results show that the algorithm can be used to solve the multi-aircraft path planning problem with complex spacetime constraints.