06.2 - Flight Dynamics and Control (UAV related)

2D AND 3D TRAJECTORY PLANNING FOR UAVS FORMATION SYSTEM USING DYNAMIC WINDOW APPROACH

R.B. Zhu¹, K. You¹, H.C. Yang¹, X.K. Ma¹, Z.L. Chen¹; ¹Northwestern Polytechnical University, China

This paper proposes a leader-follower trajectory planning method for large UAV formations to enhance efficiency. Using the Dynamic Window Approach (DWA) to handle kinematic constraints, it ensures feasible 2D/3D paths. Results show successful mission execution with adaptive climbing in 3D scenarios.

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DOI: 10.71945/icas2026_0735