Multi-UAV path re-planning based on SAS algorithm under human-computer cooperative strategy

Aiming at the multi-UAV path re-planning in the complex and changeable battlefield environment, a modified sparse a * algorithm under the human-computer cooperation strategy is presented. In this paper, the manual intervention in the local path re-planning Dynamic window is given, and the human-computer interaction strategy of the path is automatically programmed by the SAS algorithm, and the path node is merged with the path re-programming constraints. The simulation results show that the improved SAS algorithm effectively constrains the feasible solution space of SAS algorithm, reduces the computational amount of the algorithm, reduces the number of generation path points, shortens the data transmission time, and obtains the subjective satisfactory re-planning path of avoiding sudden threat/danger and collision avoidance by multi-UAV.

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Multi-UAV path re-planning based on SAS algorithm under human-computer cooperative strategy