Multi-UAV Trajectory Planning and Tracking Via Improved Informed-RRT* and MPC Algorithms

For the study on the multi-UAV cooperative execution of complex tasks, this paper divides multi-UAV cooperative tasks planning into three parts: task allocation, path planning and trajectory tracking. Firstly, the specified task is assigned for each UAV by choosing Hungarian algorithm as the task allocation algorithm. Secondly, an improved Informed-RRT* algorithm is employed to plan the trajectory of the multi-UAV system. Then, a trajectory tracking controller is designed by using a model predictive control method. Finally, the simulation results are carried out to verify the effectiveness of the designed method.