Distributed on-line path planner for multi-UAV coordination using bi-level programming

This paper presents a novel on-line path planner for multiple UAVs based on the distributed planning scheme and the bi-level programming technique, in the presence of diverse surface-to-air missiles (SAMs) deployed within large operational spaces. With a formal problem formulation, the planner offers a hierarchical architecture that not only provides global convergence and optimized solution for the UAV team, but also guarantees the path safety and navigability for each UAV according to their respective requirements. Constraints with respect to complex threat environment avoidance, UAVs´ physical attributes and real-time capabilities of airborne equipment are all fully considered in the planning procedure. Simulation results prove that the proposed planner is capable of generating synthetically optimal flight paths for multi-UAV, along with the path safety and smoothness improvement in local for each individual UAV.