Path Planning and Cooperative Control for Multiple UAVs Based on

Consistency Theory and Voronoi Diagram

Xia Chen1, Guang-yao Li1, Xiang-min Chen2
1. School Of Automation, Shenyang Aerospace University, Shenyang 110136, China
E-mail: xiachen1108@163.com; 1252517497@qq.com

2. Department Of Information And Control Engineering, Shenyang University Of

Chemical Technology Ke Ya College, Shenyang 110167, China
E-mail: 740128921@qq.com

Abstract: In order to solve the path planning problem about multiple unmanned aerial vehicles (UAVs) attacking multiple
targets under static environment, the method based on consistency theory is proposed in this paper. The Voronoi diagram
method is used to create threat field and the total path cost is established firstly. Then, path planning model is constructed and
the payment function of multiple UAVs path planning is designed. The idea that multiple UAVs cooperatively seek the
optimal path based on consistency theory is further defined by establishing the path solving framework, the purpose of which
is that multiple UAVs take off and arrive at prescribed target points at the same time. Finally, the simulation experiment is
conducted, the results of which demonstrate that using the consistency theory combined with Voronoi diagram can guarantee
the optimal path of UAVs and complete multiple UAVs cooperatively attacking multiple targets.
Key Words: UAVs, Voronoi diagram, consistency theory, path planning, control strategy

An improved Consensus algorithm is proposed in the

1 INTRODUCTION
Path planning is referred to find an optimal or sub-optimal
path from the starting point to the target avoiding obstacles.
It is one of the key techniques to improve the automatic
level of unmanned aerial vehicle (UAV). The planned path
should satisfy the following requirements: 1) safety, i.e.,
UAV must avoid all obstacles successfully; 2) feasibility,
i.e., the planned path ought to satisfy dynamic constraints
and can be instantaneously tracked by the control system;
3) optimization, i.e., the optimal path is found by
minimizing the object function.
At present, the domestic and foreign researches on path
planning of single UAV have made considerable
achievements. Some algorithms, e.g., the Dubins method
[1], the improved rapidly-exploring random tree (RRT) [2],
Artificial potential field (APF) method [3], Ant colony
optimization (ACO) algorithm [4] and A* algorithm [5]
are often used in the path planning. In recent years,
Voronoi diagram has been widely used in path planning
because of its some merits, e.g., Voronoi diagram can
simplified complex route search of space into the weighted
graph search problem, reducing the cost of calculation and
can satisfy the real-time requirement [6] and elude
uncertain obstacles.
Nowadays, with the development of consistency theory, its
application becomes increasingly popular. Study on
multiple UAVs cooperative control based on consistency
theory attracts abroad and domestic scholarĆs attention.
This work is supported by National Nature Science Foundation (No.
61503255) and Technology Innovation Foundation of Shenyang (No.
14042200 & No. 14231129).
literature [7]. Simultaneous arrival of multiple UAVs is
also investigated in the literature [8] for such applications
as coordinated target intercept by multiple UAVs.
Two key techniques including path planning and
cooperative control must be considered in the control
system of multiple UAVs. So far, researches about the two
techniques have made some achievements, however, both
of them normally are studied separately. In order to
improve the war power of UAVs, the two core techniques
have to be coherently taken into account in real battlefield.
As a result, how to effectively combine the path planning
with the cooperative control is urgently needed to meet the
battlefield requirements. An effective method is proposed
in this paper. Voronoi diagram based on the battlefield
environment is established firstly, then a preliminary path
is determined based on the established Voronoi diagram
and further the optimal cooperative path of multiple UAVs
is planned by establishing the path solving framework and
using the consensus algorithm; lastly, Dijkstra algorithm is
used to find the cooperative paths based on the current
speed of UAVs and remaining path length. The simulation
results demonstrate the proposed method is feasible and
efficient to solve path planning problem of multiple
UAVs.
2 ESTABLISH VIRONOI DIAGRAM BASED
ON THE BATTLEFIELD ENVIRONMENT
The first step of path planning based on Voronoi diagram
is using radar distribution center to establish Voronoi
diagram based on the known distribution of the radar
firstly. Suppose all the radars have same detection radius.
The path can be obtained according to Voronoi diagram

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 rules. For any n points on a plane, connecting adjacent 1 N § 1 1 1 ·
points together will yield triangles. The triangle J threat ,i = Li ¦ ¨ 4 + 4 + 4 ¸¸ (1)
3 j =1 ¨© d1/6,i , j d1/2, i, j d 5/6,i , j ¹
perpendicular bisector of each side will form a polygon,
which is called Voronoi polygon, and all Voronoi
polygons construct Voronoi diagram [9]. As is shown in Where J threat ,i is the radar threat cost of edge i , Li the
figure 1. length of edge i , and d the distance from the point of
10000 edge i to the radar j . As is can be seen in figure 2.
9000

8000
d5 ( a +1),( b +1)
7000 (a + 1) 6

6000
5
( a + 1)
y/m

5000 6
1
4000 2
1
3000 5 6
1 6
2000
a 2

1000 d1 b
(a − 1) 2
a ,b
1
0 6
0 2000 4000 6000 8000 10000
x/m d1
6
( a −1),( b −1) ( a − 1) 5
6
Fig 1. Voronoi diagram 1
1 2

Based on the characteristics of the Voronoi diagram, the 6

target point and the starting point are distributed in
different position. On the basis of this, UAV can use two
kinds of methods for path planning. The first one is that the
target point and the starting point are both located on the
edge of the Voronoi diagram, which only needs to analyze
the node of the Voronoi diagram, and then seek path using
algorithm. The second is that the target point and the
starting point are not on the edge of the Voronoi diagram,
which considers not only the connection relation among
nodes of the Voronoi diagram, but also the connection
relation between the target point and the starting point and
nodes of the Voronoi diagram.
3 MULTIPLE UAV COORPERATIVE PATH
PLANNING METHOD BASED ON
CONSENSUS ALGORITHM
The basic train of thought multiple UAV cooperative path
planning based on Voronoi diagram is: firstly, a planar
Voronoi diagram is established according to the battlefield
environment, which internal polygon points are threat
points and edges of polygon are alternative paths for UAV
flight, and then the shortest paths of all UAV are
calculated, as a result, the optimal solution of multiple
UAV path planning is found out.
3.1 Radar threat model
UAV path planning begins with considering the threat
point in the battlefield, describing the Voronoi diagram
according to the distribution of radar and missile, and then
determining potential paths of UAV. This article replaces
all threat points with radar and uses the radar equation 1.
Suppose the radar number in research region is N , and
UAVs have fixed flying height, thus the problem of a
complex three dimensional space is simplified into a
two-dimensional plane problem.

Fig 2. The calculation chart of radar threat to UAV
3.2 Multiple UAV path planning model
The structure of coordination control system for multiple
UAVs with the characteristics of decentralized control and
centralized control is proposed in the literature [10]. The
centralized mission management system implements the
target allocation, communication management, and
formation management. The decentralized coordination
system implements the local mission planning,
coordination strategy, and control. There is a close link
between the inside and the outside in a complete
battlefield.
In order to make the discussion of problem convenient,
symbols are defined as follows: F i is the number of the
i − th formation, N F the number of UAV formation,
NU the number of UAV, U ij the j − th UAV of Fi ,
PFi the flight path of Fi outside the battlefield,
len ( PFi ) the length of PFi , RFi the combat radius of Fi ,
PUij the flight radius of U ij , RUij the combat radius of
U ij , len( p) the length of p , Turn( p) the number of
making a turn in path p , J threat ( p) the threat of path p .
The literature [11] proposed that cooperative
reconnaissance, operation modes of multiple UAVs
formation flight can enhance successful rate of the single
operation for single aircraft to some extent, so multiple
UAVs formation flight is currently one of the most active
research topics in the domain of UAV research and
development. The UAV formation is regarded as a whole,
choosing the attacked target according to the allocation of
task. Therefore, the single path difference can be ignored.
To ensure the safety of flight distance and the overall fuel
consumption, the multiple son paths of all members need
to be planned from the starting point to the target point.
The starting point of UAV should be determined based on

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 the path of formation, and each UAV should have the same Generally the formal fuel consumption of UAV is lower
starting point when entering the battlefield. An indicator of than the process of turning. In this article, the fuel cost is
path planning of UAV formation is to make the whole fuel approximately represented with flight distance and times
consumption minimum. of turning. The formula is as follows:

min f 5 = α1 (¦ len( pF1 ) RF1 + ¦ (len( p F` ) − len( pF )) 2 N F )

l l
(2)
+α 2 (¦ Turn( pF1 ) TurnF1 + ¦ (Turn( pF1 ) − Turn( pF1 ))2 N F )
l l

Where the weights of flight distance and times of turning Therefore, the difference among formations can be
avoided, which reflects the synergistic effect of path
are represented with α1 and α 2 , α1 + α 2 = 1 , planning.
α1ˈα 2 ≥ 0 , len( pF ) and turn( pF ) represent average According to the method to calculating threat degree, the
length and average times of turning of formation path. It formula of calculating minimum threat degree is as
can be seen from the formula 2 that the above indicators follows:
enable the path length and times of turning to be equal.
__________
___
len( pUij ) Jthreat( pij )− Jthreat( pu )
min f6 = μ1¦ Jthreat( pUij ) + μ2 (3)
i, j ¦len( p
i, j
Uij ) Jthreat( pu )

The formula 4 and formula 5 are met at the same time when then the sum is used for representing corresponding threat
the threat degree is minimum. Threat degree of each UAV degree. The specific calculation of threat is as shown in the
in whole threat degree is in proportion with its path length. formula 3 that the threat degree of each path can be
The UAVs are not affected by the threat outside battlefield, calculated according to different weight of each path after
because the threat of UAV is basically within the solving the threat degree of each testing point. The formula
battlefield. So the calculated threat in above formula only is as follows:
includes the one within the battlefield. M
­ len(m)
J threat ( pu ) = min ( J threat ( pU ij )) (4)
° J threat ( p) = ¦ len( p) J threat (m)
m −1
i, j °°
J
® threat ( m ) = ¦ wD J threat ( D) (6)
J threat ( pij ) ° D=m
J threat ( pij ) = ¦ (5) ° ¦ wD = 1, wD > 0
i, j Nu °̄ D=m

3.3 Calculating the path threat based on Voronoi Where path p is composed of M section of the
diagram path, jthreat (m) the threat degree of m − th path, D the
testing point on the path, wD the weight value, jthreat ( D ) the
The method to calculating threat usually is: firstly, to
respectively make a sample for each path and consider the threat degree of testing point D . The threat is equal to the
weighted sum of sample points as the threat degree of the sum of all threat at the point. The point D has two kinds of
path, secondly, the one that the whole length is divided by relations with Voronoi diagram: one is that the testing
the length of each path is considered as respective weight, point is on the edge of Voronoi diagram; the other is not.
in addition, to make a weighted sum of each threat degree, 1) the testing point is on the edge of Voronoi diagram
K k
J threat ( D)
J threat ( D) = ¦ ( β1 + β 2 J threat
k
( D)), β1 + β 2 = 1, β1 , β 2 ≥ 0 (7)
k =1 K
2) the testing point is not on the edge of Voronoi diagram
Where the threat source index of point D is
K
If the testing point is not on the edge of Voronoi diagram, it
for{ Tr1 , Tr2 ,,..., TrK }, J threat ( D) the threat from must be within the scope of some power, namely in the
K − th threat source, the calculation of J threat
K
( D) is based interior of the Voronoi polygon.
on the formula 1 and formula 8. As is seen from the As is shown in figure 3, the threat source must have
formula 4, we need consider not only the threat degree influence on the edge of polygon CBEFGH when the
from all threat sources, but also the influence from the testing point D is in the interior of the Voronoi polygon.
biggest threat degree. Therefore, the threat source index of polygon edge should
be given a full consideration when the threat degree of the
M § Δh Δh1/ 2,i , j Δh5/ 6,i , j ·
J = K¦¨
1/ 6, i , j
+ + ¸ (8) point D needs to be calculated, and then ensuring the
missileThreaten ¨
j =1 d 1/ 6, i , j d 1/ 2,i , j d 5/ 6,i , j ¸
© ¹ scope of each threat source. If the testing point D is in the

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 scope of some threat source, the threat degree of the threat Where ξi ∈ R m is the state variable of i − th node,
source will be included in the tested threat source.
ui ∈ R m the control input of i − th node,
n×n
A = [aij ] ∈ R the weighted adjacent matrix and
aij > 0 , aii = 0 . For any prescribed initial value
H
C ξi (0) , ∀i ∈ V , if ξi → ξ j , ∀i, j ∈ V on the condition
of t → ∞ , the system is considered reaching consensus
G
•D state. A common form of consistency algorithm is given
here:
B
n
F
E
ui = −¦ aij (ξi − ξ j ) , ∀i ∈ V (10)
j =1

Assume that path planning of every UAV has been

completed and UAVs have to move along planned path,
Fig 3. The testing point is not on the edge of Voronoi diagram
initial time is denoted as t = 0 . The remaining path length
3.4 Cooperative path planning framework based on to the destination of i − th UAV at the moment t is
Voronoi diagram denoted as Li . The derivative of Li about t is as follows:
On the established Voronoi diagram, we need to solve the
problem that each member of UAV formation ought to Li = −vi (11)
have the optimal path. Each UAV need adjust its speed
according to the distance to target so that all UAV arrive at Where vi is the speed of i − th UAV at the moment t .
corresponding destination at same time.
The estimated moment of arrival of i − th UAV can be
The path planning of this article can be divided into two
calculated:
parts: one is the collaborative management layer, the other
is the path planning layer. The whole process is: the ζ i = t + τ i = t + Li / vi (12)
collaborative management layer can coordinate flight time
of UAV formation according to speed range of UAV,
environmental information and the length of path from
Where τi is the expected time of arrival (ETA) of i − th
collaborative management layer, and then the time and the UAV. The following equation can be easily obtained.
numbers of UAV are transferred to path planning layer so
as to let path planning layer determine the flight path. The ζ i − ζ j = τ i −τ j (13)
overall structure of multiple UAV path planning is as
follows: That multiple UAVs simultaneously arrive at the ending
point is the estimated moment of arrival or ETA of every
UAV converging to consensus, which can be described as:
Management layer
ζ i → ζ j , ∀i, j ∈ V (14)
Flight time Length of path
or τ i → τ j , ∀i, j ∈ V (15)

Planning layer Generally, each UAV has its maximum speed and
minimum speed, which is shown in formula 16. Assume
that the flight control system is equipped with the function
of maintaining the autopilot speed, and it can receive
prescribed speed command. The speed maintaining of
UAV autopilot can be approximately described in first-order
dynamic model, which is shown in equation 17.
Fig 4. System structure of path planning
0 < vmin,i ≤ vi ≤ vmax,i (16)
4 DECENTRALIZED CONTROL STRATEGY

In a system including n nodes, which is described with vi = α v ,i (vic − vi ) (17)

G = (V , E , A) [8], assume that the states of nodes meet
Where vic is the speed command, α v ,i the positive
first-order dynamic equation:
constant about flight condition. Combining the equations
ξi = ui , ∀i ∈ V (9) 11, 17 with 12 can be described as:

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 α (v − v ) c the optimal path, and then the three paths will be
ζ = − v ,i i i τ i (18) summarized so as to choose the optimal formation path,
vi namely is that both taking and arrive are at the same time.
The path planning of first UAV is shown in figure 5:
Let ui = −α v ,i (vi − vi )τ i / vi as well as ξ = ζ , it is
c
abscissa and ordinate ranging from 0 to 10000 are
representative of geographical location in simulation; blue
obvious ξ = ui , and solid points represent threat in battlefield and two red
asterisk points respectively represent the starting point and
vic = vi − vi ui / (α v ,iτ i ) (19) the target point; the coordinates of starting point target
point are (1900, 10) and (3200, 8600).
As can be seen from the above deduction, the condition of
UAV can be presented in the form of formula 9. So the 10000
estimated moment of arrival can reach consensus, namely 9000
the formula 13 can be met. Target1
8000
A simple decentralized control strategy can be presented as 7000
followed by assuming τ i the coordinated variable. 6000

y/m
5000
­vic = vi − vi ui / (α v ,iτ i ) 4000
° n 3000
® (20)
° u i = − ¦ aij (τ i − τ j ) 2000

¯ j =1 1000

0
0
Start1
2000 4000 6000 8000 10000
4 SIMULATIONS x/m

In order to achieve synergistic in the simulation, the UAV Fig 5. The ideal path of first UAV
path is set time to record points. The current coordinate is
recorded after the moving point moves corresponding 10000

distance based on the recorded time, and then the track 9000
points of each UAV are up to the distance between the 8000 Target2
starting point and the target point, the speed of flight and 7000
the recorded time. So each UAV can arrive at the target 6000
point at same time.
y/m

5000
The simulation is to get dynamic results of UAV operation. 4000
The moving points need to be divided into three parts in 3000
the program of UAV moving because of the starting point 2000
and the target point being not on the node of Voronoi
1000
diagram. Firstly, the UAV chooses the closest node and
0 Start2
slowly moves towards to it; secondly, the UAV moves 0 2000 4000 6000 8000 10000
x/m
from the first node to the last, which is the closest distance
to the target point; thirdly, the UAV moves from the last Fig 6. The idle path of second UAV
node to the target point.
10000
5.1 The path calculation of single UAV
9000
Based on formation path planning, the single need to 8000 Target3
determine the task area corresponding with weapons 7000
according to the position and the direction of target point, 6000
planning an optimal path being of highest safety. The UAV
y/m

5000
formations fly together before entering the battlefield, 4000
while they will separately perform the task after entering 3000
the battlefield. According to the planned path, the path
2000
planning of single UAV begins with entering the
1000
battlefield. The point where the UAV enters the battlefield
is thought as the starting point and the point going to be 0
0 2000 4000 6000
Start3
8000 10000
x/m
attacked is thought as the target point (This article only
considers the path planning after the UAV enters the Fig 7. The idle path of third UAV
battlefield). The index of path planning is the minimum
threat and the highest safety. The path planning of second UAV is shown in figure 6: the
In order to simplify the problem, this article uses three coordinates of starting point target point are (5400, 10) and
UAVs instead of multiple UAVs. Before the flight, the (5000, 8000).
three UAVs need to use the Dijkstra algorithm to calculate

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 The path planning of third UAV is shown in figure 7: the and UAV3. So the speed of each UAV must be adjusted to
coordinates of starting point target point are (7800, 10) and realize the synergy. According to the shortest time, the
(7000, 8000). speed of each UAV need adjusting based on the path
length. Assume the referenced speed is v1 , then
5.2 The analysis of overall planning
v2 = v1 ⋅ L2 / L1 and v3 = v1 ⋅ L3 / L1 , the result of which is
Three UAVs set off at the same speed and record the three UAVs are synergistic. The specific data of path
current point each fixed time. The recorded point is planning are shown in table 1.
different because of different paths. The L1 , L2 and L3 are
respectively denoted as the route lengths of UAV1, UAV2
Table1. The Data Of Path Planning
Starting speed Remaining path Adjusted speed
UAV Starting point Target point −1 −1
/( m ⋅ s ) length/( m ) /( m ⋅ s )
1 ˄1900, 10˅ ˄3200, 8600˅ 200 11245 200
2 ˄5400, 10˅ ˄5000, 8000˅ 200 10656 200*10656/11245

3 ˄7800, 10˅ ˄7000, 8000˅ 200 9292 200*9292/11245

According to adjusted speed, three paths are drawn at the on the path planning of multiple UAVs under dynamic
same time, which can be shown in figure 8. environment.
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In real battlefield, the environment of battlefield is
normally uncertain, therefore, the next research will focus

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