Information-Compensation-Based Receding Path Planning for Multi-UAVs under Communication Delays

This paper presents a novel receding path planning method for multi-UAVs to increase the success rate of cooperative path planning under communication delays. Firstly, path planning problem for multi-UAVs is decomposed into a series of short horizon sub-problems via receding planning framework to reduce the computational burden. An analytical solution to the collision avoidance algorithm is deduced, which can ensure the safety among discretized path points. To enhance the success rate of path planning for multi-UAVs under communication delays, Kalman filtering method is utilized for compensating delay information, which the current position of UAV is estimated by its previous position and delay time. Finally, the numerical simulation demonstrates the effectiveness of the proposed method.