Generating safe and equally long trajectories for multiple unmanned agents

In this paper a path planning method for multiple unmanned agents is presented. The proposed algorithm utilizes Dubins paths such that the final paths will be feasible for agents with a given turning constraint. The algorithm further ensures that the agents will avoid collisions. For cases where it is important to arrive simultaneously, this is achieved by assuming that the vehicles are operating with constant speeds and then create equally long paths. The main challenge is, however, to ensure that the algorithm is computationally efficient, as it is intended for small sized unmanned vehicles where decisions have to be taken in a short time and calculated with restricted computational units. The proposed algorithm is tested with a case study that illustrates the findings.