A novel flight route planning design technique is proposed for a group of unmanned aerial vehicles (UAVs) autonomous navigation based on the combination of evolutionary algorithms and modified artificial potential field methods. In this framework, the individual candidate route is capable of avoiding threats by introducing a virtual potential field while taking into account a variety of flight constraints. The candidate flight route is divided into several sections whose lengths are calculated individually such that the corresponding speed of each UAV can be evaluated to ensure that each member arrives at the desired termination simultaneously. The flight route planner has been tested under a variety of scenarios and proven to be effective in achieving the rendezvous of UAVs.
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