Adaptive cooperative path planning for multiple platforms

Abstract

In this paper, we first propose a general architecture for path planning and mission planning for multiple unmanned platforms that may include aircraft and robots. Second, a novel path planning method based on Pareto foraging has been implemented and evaluated. Our Pareto solution serves as a reference trajectory for the foraging algorithm, which further refines the reference path. Third, extensive experiments and comparative studies have been carried out. In particular, we compared our algorithm with the Voronoi diagram and Dijkstra's algorithm