Multi-UAV Path Planning in GPS and Communication Denial Environment

This paper proposes a feature fusion algorithm for solving the path planning problem of multiple unmanned aerial vehicles (UAVs) using GPS and communication denial conditions. Due to the blockage of GPS and communication, UAVs cannot obtain the precise position of a target, which leads to the failure of path planning algorithms. This paper proposes a feature fusion proximal policy optimization (FF-PPO) algorithm based on deep reinforcement learning (DRL); the algorithm can fuse image recognition information with the original image, realizing the multi-UAV path planning algorithm without an accurate target location. In addition, the FF-PPO algorithm adopts an independent policy for multi-UAV communication denial environments, which enables the distributed control of UAVs such that multi-UAVs can realize the cooperative path planning task without communication. The success rate of our proposed algorithm can reach more than 90% in the multi-UAV cooperative path planning task. Finally, the feasibility of the algorithm is verified by simulations and hardware.