Multiple Fixed-Wing UAV Cooperative Path Planning for a Mission in Complex Terrain

Cooperative path planning (CoPP) is pivotal in the success of multiple fixed-wing UAV (multi-FW-UAV)-based missions. The CoPP for multi-FW-UAVs is challenging due to environment, UAV system, and mission constraints. In addition, the mission-specific constraints twofolds the CoPP problem difficulty. In this paper, we devise a CoPP problem for multi-FW-UAV systems considering change in heading to destination, speed, altitude, flight path slope, and turn angles. In addition, each FW-UAV must simultaneously reach the destination while avoiding collision with other FW-UAVs during the mission. To get an optimal feasible flying path for each FW-UAV in the system during the mission, we propose a two-step optimization algorithm using a hybrid improved whale optimization algorithm (HI-WOA). Initially, each FW-UAV computes its best feasible flying path, which is later used to develop a consensus on arrival time and collision avoidance mechanism in the system. Comparative simulation results show the effectiveness of the proposed HI-WOA for FW-UAVs CoPP.