Abstract
This paper describes Coordinated Path Planning of Multiple UAVs for simultaneous arrival with safe ∞ight-paths. The simultaneous arrival of all UAVs is guaranteed by paths of equal lengths. Two conditions: 1. minimum separation distance and 2. non-intersection of paths at equal length are used/proposed to ensure the safe ∞ight-path of UAVs. These conditions are to avoid inter-UAVs collision. The dubins CLC paths are used for the path planning. The shortest path of each UAV is found out from the available set of CLC paths. The longest of shortest paths is taken as the reference path. The length of remaining paths are adjusted to be equal to that of the reference path. The length of paths are increased to that of the reference path by increasing the turning radius of arcs. Bisection method is used to flnd the optimal turning radii of paths. The path planning guarantees design of paths of equal length with shortest paths. This is having advantages in reducing fuel consumption and increasing the durability of UAVs. Numerical simulations shows the results of the proposal.
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