An algorithm for path planning of multiple unmanned aerial vehicles based on Bezier curve

This paper presents an algorithm which based on Bezier curve for path planning of multiple unmanned aerial vehicles. Given the present state information such as the UAVs´ present velocity, present position and the final state information such as the UAVs´ final velocity, final position, this algorithm is able to generate feasible path for each UAV. This algorithm which based on the various characteristics of the Bezier curve works well on path planning of unmanned aerial vehicles, and can plan the state of each UAV such as position, velocity, and acceleration on each time point. The paths produced by the algorithm also meet the safety constraints about the UAVs, such as velocity constraints, acceleration constraints, and safe distance between UAVs.