In contrast to the most existing unmanned aerial vehicle (UAV) cooperative trajectory planners that are suitable for stationary targets, a novel decentralized cooperative trajectory planning method for UAV towards moving target aground was proposed. The decentralized cooperative trajectory planning scheme was given and the time advancing mechanism by alternation of self-planning and synchronized-planning was adopted to match the constraints of information transfer interval. The heuristic information function suitable for moving target aground was constructed to enhance the UAV trajectory feasibility. The heuristic search algorithm was used to generate the trajectory segments, which make UAV reacting to target movement aground. The decentralized computing method for cooperative variable was designed to reduce the cooperative computing. The simulation results show that the method could generate the real time three-dimensional cooperative trajectory for UAV towards moving target aground via information transfer and decentralized computing, which meets the real time application requirement.
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