Multi-UAV Collaborative Trajectory Planning Algorithm for Urban Ultra-low-altitude Air Transportation Scenario

Authors

Jie Cheng, College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, ChinaFollow
Yuan Zheng, College of Computer Science and Technology, Civil Aviation Flight University of China, Guanghan 618307, ChinaFollow
Chenglong Li, College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, China; School of Electronic Information Engineering, Beihang University, Beijing 100191, China
Bo Jiang, College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan 618307, China

Abstract

Abstract: The rapid development of the drone industry has promoted the opening of low-altitude, forming a wave of ultra-low-altitude air transportation in cities sweeping over the world. However, the existing trajectory planning algorithms do not consider the division method and operating rules of the ultra-low-altitude airspace. They are not suitable for the collaborative trajectory planning of multiple UAVs in the urban ultra-low-altitude air transportation scenario, which may restrict the development of the ultra-low-altitude air transportation industry. This paper explores a multi-UAV collaborative trajectory planning method for urban ultra-low-altitude air transportation scenario based on the airspace flight altitude layer architecture. Specifically, the paper decomposes the original problem into two coupled subproblems: UAV flight altitude layer task assignment and multi-UAV single-altitude coordinated trajectory planning. It uses the task assignment solution based on mapping knowledge domains and the swarmbased improved artificial potential field method to solve these two sub-problems respectively. Simulation results show that the method can not only avoid the inherent defects of traditional methods in solving the cooperative trajectory planning sub-problem but also reduce the average number of iterations by 62.09% compared with the traditional method. At the same time, the simulation results also show that the proposed method solves the original problem fast and robustly, which can provide a feasible trajectory for multi-UAVs in urban ultra-low-altitude air transportation scenario.

Recommended Citation

Cheng, Jie; Zheng, Yuan; Li, Chenglong; and Jiang, Bo (2024) "Multi-UAV Collaborative Trajectory Planning Algorithm for Urban Ultra-low-altitude Air Transportation Scenario," Journal of System Simulation: Vol. 36: Iss. 1, Article 4.
DOI: 10.16182/j.issn1004731x.joss.22-1028
Available at: https://dc-china-simulation.researchcommons.org/journal/vol36/iss1/4

First Page

50

Last Page

66

CLC

TP391.9

Recommended Citation

Cheng Jie, Zheng Yuan, Li Chenglong, et al. Multi-UAV Collaborative Trajectory Planning Algorithm for Urban Ultra-low-altitude Air Transportation Scenario[J]. Journal of System Simulation, 2024, 36(1): 50-66.

DOI

10.16182/j.issn1004731x.joss.22-1028