Periodic re-optimization based dynamic branch and price algorithm for dynamic multi-UAV path planning

In this paper, a dynamic branch and price algorithm with a periodic re-optimization framework is proposed to solve the dynamic Multi-UAV path planning problem. By partitioning the planning horizon into a series of time slices, the dynamic problem is transformed into a series of static problems. We then use the adjusted branch and price algorithm to solve each static problem. The prominent characteristic of this algorithm is to improve the solving efficiency at each time slice by succeeding and adjusting the columns from the last time slice. According to the experimental results, the proposed dynamic branch and price algorithm with a periodic re-optimization framework can solve the test instances effectively.