Distributed Autonomous Safe Flight Planning for Multiple UAVs in Unknown Environments
Fan Yang, Qiang Lu, Jianxiao Lin, Botao Zhang, Youngjin Choi
Abstract
In this paper, two technologies are proposed to deal with the problem of flight safty of multiple unmanned aerial vehicles (UAVs) in unknown environments. One technology is to optimize the front-end path generated by traditional path planning methods in order to better match the dynamics of UAVs to obtain the back-end movement trajectories of UAVs. The other technology is to introduce the collision detection adjustment region such that collision avoidance can be realized for multiple UAVs by dynamic replanning of UAV’s trajectory under local neighborhood communication. Finally, according to simulation and real-world experimental results, the effectiveness of the proposed technologies is verified for the flight safty of multiple UAVs in unknown environments.
BibTeX
@inproceedings{iros2025_distributedauton,
title = {Distributed Autonomous Safe Flight Planning for Multiple UAVs in Unknown Environments},
author = {Fan Yang and Qiang Lu and Jianxiao Lin and Botao Zhang and Youngjin Choi},
booktitle = {IROS 2025},
year = {2025}
}