Multiple UAVs cooperative trajectory planning via dynamic sensing based on graphical model

Focusing on solving the shortage problems of present situation estimation and future forecasting, dynamic sensing model for pop-up threats is established by dynamic Bayesian network (DBN), which is a kind of graphical models. Dynamic sensing for pop-up threats can be achieved by parameters' change in relative DBN' s transition networks and DBN's learning and inference algorithm. An autonomous optimization for multiple UAVs cooperative path planning based on DBN is proposed, which supplies the realization foundation for UAVs cooperative trajectory planning. Simulation results show that this UAVs cooperative trajectory planning via dynamic sensing based on this graphical model is correct and practical.