航迹规划是实现无人机高效任务管理的关键环节之一。针对队形保持的多无人机协同航迹规划问题,引入队形力这一概念,对传统领航跟随法进行改进,提出了一种基于领航跟随法和人工势场法相结合的多机协同航迹规划算法,并利用MATLAB软件对上述算法进行了仿真实验,验证了此算法的正确性。 Trajectory planning is one of the key steps to achieve efficient mission management of UAVs. Aiming at the multi-aircraft cooperative flight path planning problem of multi-aircraft maintained by formation, the concept of formation force is introduced to improve the traditional pilot-following method. A multi-aircraft cooperative navigation system based on pilot-following method and artificial potential field method Trajectory planning algorithm, and the use of MATLAB software to simulate the above algorithm to verify the correctness of the algorithm.