6. Path Planning for Multiple UAVs

  1. Antonios Tsourdos,
  2. Brian White and
  3. Madhavan Shanmugavel

Published Online: 8 NOV 2010

DOI: 10.1002/9780470974636.ch6

Cooperative Path Planning of Unmanned Aerial Vehicles

Cooperative Path Planning of Unmanned Aerial Vehicles

How to Cite

Tsourdos, A., White, B. and Shanmugavel, M. (2010) Path Planning for Multiple UAVs, in Cooperative Path Planning of Unmanned Aerial Vehicles, John Wiley & Sons, Ltd, Chichester, UK. doi: 10.1002/9780470974636.ch6

Author Information

  1. Cranfield Defence and Security, Cranfield University, UK

Publication History

  1. Published Online: 8 NOV 2010
  2. Published Print: 19 NOV 2010

ISBN Information

Print ISBN: 9780470741290

Online ISBN: 9780470974636



  • path planning for multiple UAVs;
  • simultaneous arrival at specified location - missions, needing cooperation between UAVs;
  • UAVs, assumed to have equal kinematic and dynamic capabilities;
  • UAV safety and communication range spheres;
  • simultaneous arrival of group of UAVs - satisfying constraints;
  • speed constraints of UAVs - and simultaneous arrival achieved in two ways;
  • path planner for flyable paths;
  • flyable paths - tuned to meet safety constraints;
  • multiple path algorithm;
  • flyable paths of UAVs and Dubins 3D-three UAVs - for simulation


This chapter contains sections titled:

  • Problem Formulation

  • Simultaneous Arrival

  • Phase I: Producing Flyable Paths

  • Phase II: Producing Feasible Paths

  • Phase III: Equalizing Path Lengths

  • Multiple Path Algorithm

  • Algorithm Application for Multiple UAVs

  • 2D Pythagorean Hodograph Paths

  • 3D Dubins Paths

  • 3D Pythagorean Hodograph Paths

  • References