A Method of Trajectory Planning for Unmanned Aerial Vehicle Formation Based on Fluid Dynamic Model

This paper mainly studies the obstacle avoidance and rapid reconstruction of UAV formations. A hybrid trajectory planning algorithm based on potential field fluid dynamic model and bidirectional fast search random tree is proposed to improve the ability of UAV formation to adapt to complex dynamic environment. Firstly, a dynamic system mathematical model based on fluid potential energy field is proposed; and the obstacle potential energy function and potential energy function between the formations modify the disturbance flow field. Secondly, IBi-directional Rapidly Exploring Random Tree (IBi-RRT) algorithm with adaptive step size is scheduled to solve the dispersive and convergent streamlines of disturbed flow field and to plan the trajectory. This method can clarify the flow field streamlines by adaptive step size combined with rolling detection method, which greatly improves the formation's ability to avoid dynamic threats. The experimental results show that the proposed improved fluid potential energy field dynamic system and IBi-RRT hybrid trajectory planning algorithm with adaptive step size can effectively improve the adaptive ability of UAV formation to the dynamic environment, and can plan the ideal trajectory in response to unexpected situations.