Abstract
Fixed-wing UAVs have shown great potential in both military and civilian applications. However, achieving safe and collision-free flight in complex obstacle environments is still a challenging problem. This paper proposed a hierarchical two-layer fixed-wing UAV motion planning algorithm based on a global planner and a local reinforcement learning (RL) planner in the presence of static obstacles and other UAVs. Considering the kinematic constraints, a global planner is designed to provide reference guidance for ego-UAV with respect to static obstacles. On this basis, a local RL planner is designed to accomplish kino-dynamic feasible and collision-free motion planning that incorporates dynamic obstacles within the sensing range. Finally, in the simulation training phase, a multi-stage, multi-scenario training strategy is adopted, and the simulation experimental results show that the performance of the proposed algorithm is significantly better than that of the baseline method.