Adapting Real-Time Path Planning to Threat Information Sharing

Information sharing is an important characteristic of cooperative flights, bringing forward new challenges to real-time path planning approaches. In this paper, problems brought out by threats information sharing are proposed, while distinguishing characteristics of threats environment with information sharing are analyzed. Based on these, solutions to these characteristics and a new path planning approach based on three strategies are advanced. At last, to test the applicability of the proposed approach, it is implemented to the improvement of a real-time Rapidly-exploring Random Tree (RRT) algorithm. The effectiveness and efficiency of the resultant algorithm are verified by stochastic and representative scenarios, which show that the new approach can be more adaptive to the threat information sharing environments.