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Open AccessArticle
Conflict-Free 3D Path Planning for Multi-UAV Based on Jump Point Search and Incremental Update
by
Yuan Lu
Yuan Lu 1,
De Yan
De Yan 1,2,
Zhiqiang Wan
Zhiqiang Wan 1,* and
Chuanyan Feng
Chuanyan Feng 3
1
School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China
2
Hangzhou International Innovation Institute, Beihang University, Hangzhou 311115, China
3
Tianmushan Laboratory, Hangzhou 311115, China
*
Author to whom correspondence should be addressed.
Drones 2025, 9(10), 688; https://doi.org/10.3390/drones9100688 (registering DOI)
Submission received: 3 August 2025
/
Revised: 16 September 2025
/
Accepted: 29 September 2025
/
Published: 4 October 2025
Abstract
To address the challenges of frequent path conflicts and prolonged computation times in path planning for large-scale multi-UAV operations within urban low-altitude airspace, this study proposes a conflict-free path planning method integrating 3D Jump Point Search (JPS) and an incremental update mechanism. A hierarchical algorithmic architecture is employed: the lower level utilizes the 3D-JPS algorithm for efficient single-UAV path planning, while the upper level implements a conflict detection and resolution mechanism based on a dual-objective cost function and incremental updates for multi-UAV coordination. Large-scale UAV path planning simulations were conducted using a 3D grid model representing urban low-altitude airspace, with performance comparisons made against traditional methods. The results demonstrate that the proposed algorithm significantly reduces the number of path search nodes and exhibits superior computational efficiency for large-scale UAV path planning. Specifically, under high-density scenarios of 120 UAVs per square kilometer, the proposed DOCBS + IJPS method can reduce the conflict-free path planning time by 35.56% compared to the traditional CBS + A* conflict search and resolution algorithm.
Share and Cite
MDPI and ACS Style
Lu, Y.; Yan, D.; Wan, Z.; Feng, C.
Conflict-Free 3D Path Planning for Multi-UAV Based on Jump Point Search and Incremental Update. Drones 2025, 9, 688.
https://doi.org/10.3390/drones9100688
AMA Style
Lu Y, Yan D, Wan Z, Feng C.
Conflict-Free 3D Path Planning for Multi-UAV Based on Jump Point Search and Incremental Update. Drones. 2025; 9(10):688.
https://doi.org/10.3390/drones9100688
Chicago/Turabian Style
Lu, Yuan, De Yan, Zhiqiang Wan, and Chuanyan Feng.
2025. "Conflict-Free 3D Path Planning for Multi-UAV Based on Jump Point Search and Incremental Update" Drones 9, no. 10: 688.
https://doi.org/10.3390/drones9100688
APA Style
Lu, Y., Yan, D., Wan, Z., & Feng, C.
(2025). Conflict-Free 3D Path Planning for Multi-UAV Based on Jump Point Search and Incremental Update. Drones, 9(10), 688.
https://doi.org/10.3390/drones9100688
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