Cooperative route planning method with rendezvous

Through adjusting the vehicle's velocity of each section of the flight route, a multi-vehicle cooperative route planning method with rendezvous based on evolutionary algorithm was proposed. This method introduced cooperative time error of multi-vehicle into the cost function of evolutionary algorithm, which made route satisfying rendezvous's restricts of time and space, and at the same time made the cooperative time error of reaching target reducing as small as possible. The results of simulation experiments show that this method can make good effect.