A Multi-UAVs Cooperative Trajectory Planning Method for Spectrum Mapping Tasks

‍ ‍To solve the problems of low accuracy and low efficiency in the traditional spectrum mapping method in non-cooperative environment， a multi-UAVs cooperative trajectory planning method based on artificial potential field method was proposed in this paper. Firstly， the multi-UAVs cooperative mapping scheme and optimization objectives were constructed. Then， the preliminary perception of the environment was completed through the pre-trajectory planning of multiple UAVs， and a multi-UAVs cooperative trajectory parameter design method based on artificial potential field method was proposed based on the perception information. Based on the designed parameters and collected data， the re-planning of the trajectory was completed， so as to effectively avoid the problems that may exist in the flight process of multiple UAVs， such as repeated data acquisition and collision between UAVs. The simulation results show that compared with the traditional single UAV trajectory planning method， the proposed trajectory planning method can complete the mapping task efficiently， accurately and safely. The results meet the requirements of cooperative flight of multiple UAVs and have strong theoretical and practical value.