Cooperative UAV trajectory planning with multiple dynamic targets

The paper addresses the problem of multiple UAV trajectory planning with dynamic targets. The problem is studied under the MILP framework, where how to express the nonlinear time-dependent cost function between two targets in a linear form makes the key difficulties. To solve the problem, the cost function between two nodes is determined using propotional guidance law to achieve shortest chasing time, then it is linearized with nonuniform segmented time intervals to keep the problem solvable with MILP. To process the problem with obstacle avoidance, additional time intervals corresponding to blocked obstacle regions are introduced into the cost function. Target leaving time decision variable values fallen in the intervals are treated as infeasible by introducing new logic decision variables. Various simulation examples verify the proposed method.