UAV Formation Trajectory Planning Algorithms: A Review

With the continuous development of UAV technology and swarm intelligence technology, formation cooperative mission has attracted wide attention because its remarkable function flexibility to complete complex changeable tasks, such as search rescue, resource exploration, reconnaissance surveillance. The collaborative trajectory planning is a key part task execution. This paper attempts provide comprehensive review algorithms. Firstly, from perspective global local planning, simple framework algorithm proposed, which basis classification different types According proposed framework, method existing algorithms then, are described analyzed statistically. Finally, challenges future research directions summarized prospected according actual requirements. It provides reference information for researchers workers engaged in flight UAVs.