Cooperative Mission and Path Planning for a Team of UAVs

  • Hyondong Oh
  • Hyo-Sang Shin
  • Seungkeun Kim
  • Antonios Tsourdos
  • Brian A. White
Reference work entry


This chapter addresses the cooperative mission and path-planning problem of multiple UAVs in the context of the vehicle-routing problem. Since the conventional vehicle-routing algorithms approximate their path to straight lines to reduce computational load, the physical constraints imposed on the vehicle are not to be taken into account. In order to mitigate this issue, this chapter describes a framework allowing integrated mission and path planning for coordinating UAVs using the Dubins theory based on the differential geometry concepts which can consider non-straight path segments. The main advantage of this approach is that the number of design parameters can be significantly reduced while providing the shortest, safe, and feasible path, which leads to a fast design process and more lightweight algorithms. In order to validate the integrated framework, cooperative mission and path-planning algorithms for two missions are developed: (1) road-network search route-planning patrolling every road segment of interest efficiently based on the optimization and approximation algorithm using nearest insertion and auction negotiation and (2) communication-relay route planning between a ground control station and the friendly fleet satisfying the constraints on the UAV speed and the avoidance of nonflying zones. Lastly, the performance of the proposed algorithms is examined via numerical simulations.


Path Planning Travel Salesman Problem Road Segment Mixed Integer Linear Programming Pythagorean Hodograph 
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Copyright information

© Springer Science+Business Media Dordrecht 2015

Authors and Affiliations

  1. 1.Department of Engineering Physics, School of EngineeringCranfield UniversityCranfieldUK
  2. 2.Department of Aerospace EngineeringChungnam National UniversityDaejeonSouth Korea

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