A Game Based Path Planning Method for Dual UAVs in Complex Environments

Aiming at the cooperative reconnaissance problem of dual UAVs with reconnaissance function and jamming function in complex environment, a path finding algorithm based on positive sum game is proposed to achieve the global optimum and ensure the safety of UAV. Firstly, the mathematical model of environment and flight constraints is established, the UAV is regarded as the participant in the game, the path planning of the UAV is regarded as the optimal strategy of the participants. The design payoff function includes the UAV’s function, cooperative priority, flight constraint, the length of flight path, collision prevention, threats, etc. By solving the optimal solution in the game to obtain the optimal path of all UAVs. Simulation results show that the proposed method can be implemented in a complex environment, in which, UAVs cooperate with each other to cover and reconnaissance, ensure their own safety and make up for their lack of execution ability.