Multiple UCAVs cooperative path planning in dynamic environments

A kind of cooperative dynamic path planning algorithm for multiple UCAVs in dynamic environments is presented. If there is a pop-up threat when UCAVs are enroute to terminal point, the algorithm calculates the value of the threat. If the pop-up threat was a more valuable target, the algorithm assigns the target to one of UCAVs. The UCAV attack the target in time. If the pop-up threat was not a more valuable target, the algorithm plans path for all UCAVs to evade the threat. Due to time available to plan and the feasibility of the planning result are considered, the algorithm is able to process the new information at any time. The simulation results demonstrate the method is able to make UCAV to complete its task more autonomously.