Abstract: The Multiple Unmanned Aerial Vehicles (UAVs) coordination is popular in domains of distributed artificial intelligence. One of the key challenges is the real time path planning of multi UAVs according to their dynamic targets,threatens , and terrain changes in the complex environment, as well as the constraints of the UAVs themselves. hhis paper proposed a novel approach toward this challenge. Our model is based on multi-agent model with decentralized control to UAV teams. By modeling the constraints of the environment, their allocated targets and other dynamical constraints in real battle fields such as threatens, they can be represented by constraint agents. Therefore, a multiple UAV path planning problem can be converted into a traditional DisCSP problem. We adopted the dynamical programming progross to design the interaction between agents so that multi-agent teams can solve the DisCSP with the AI3h algorithm and a feasible planned path for each UAV can be produced according to its dynamical constrains and allocated target. We simulated the multi-UAVs dynamical path planning in two scenarios: with dynamical threatens and terrains; with dynamical targets to manifest the feasibility of our designs.

Key words: Multi-UAVs,Multi-agent system,DisCSP,Dynamic programming