A novel coordinated path planning method using k-degree smoothing for multi-UAVs

Coordinated path planning for multiple unmanned aerial vehicles (multi-UAVs) is a highly significant problem encountered in their coordinated control. In the interests of completing mission securely and efficiently, the advanced multi-UAVs control technology requires a universal smoothing method as well as a precise coordination strategy. In this paper, we propose a novel multi-UAVs coordinated path planning method based on the k-degree smoothing, a more complex environment consists of multiple threat sources of which is constructed. By employing the Improved Ant Colony Optimization algorithm, a k-degree smoothing method is also presented aiming at obtaining a more flyable path. Additionally, the multi-UAVs coordination algorithm is induced by k-degree smoothing, allowing the UAVs to arrive at the destination simultaneously or in an acceptable time interval. Finally, simulations of the comparison between the Improved Ant Colony Optimization and classic algorithm, the detailed smoothing method, and the coordination are respectively conducted to validate that the proposed approach is feasible and effective in multi-UAVs coordinated path planning problems.