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Aiming at the helicopter formation scheduling problem in complex airspace, a path planning and conflict avoidance model based on multi-intelligence cooperative mechanism is constructed. The model integrates the improved A* algorithm and local replanning strategy, combines dynamic airspace modeling and communication topology control, and realizes the double guarantee of mission synchronization and path security. In the joint simulation of MATLAB and ROS platform, compared with DWA and distributed MPC algorithm, the task completion rate is improved to 97.4%, the average path length is shortened by 8.2%, and the number of conflicts is reduced to 0.3 times, which verifies the comprehensive advantages of the proposed method in terms of efficiency and robustness.

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Research on Cooperative Scheduling Algorithm of Helicopter Formation Flight for Complex Airspace

  • 会议论文

  • 发表日期：

    2026年

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  • Hantao Zhao,
  • Ningyuan Yang,
  • Di Sun,
  • Zhanjiao Liu

摘要

Aiming at the helicopter formation scheduling problem in complex airspace, a path planning and conflict avoidance model based on multi-intelligence cooperative mechanism is constructed. The model integrates the improved A* algorithm and local replanning strategy, combines dynamic airspace modeling and communication topology control, and realizes the double guarantee of mission synchronization and path security. In the joint simulation of MATLAB and ROS platform, compared with DWA and distributed MPC algorithm, the task completion rate is improved to 97.4%, the average path length is shortened by 8.2%, and the number of conflicts is reduced to 0.3 times, which verifies the comprehensive advantages of the proposed method in terms of efficiency and robustness.