I discussed a doctoral thesis at the College of Engineering at the University of Basrah entitled (Planning and Controlling Multiple Air Vehicles)

The thesis submitted by the student Ahmed Fahim Ibrahim included

Producing four new path planning algorithms within three-dimensional environments, as the robot’s path was built using two principles: moving in a straight line to the edge of the obstacle and then turning around the obstacle based on the small piece of the great circle that passes the points of arrival and departure from the obstacle and its center is the center of the obstacle. A set of paths to form a tree of possible paths The shortest path from this tree is chosen. The first algorithm was developed to be able to deal with a group of moving robots, as this algorithm assumes that the robots are spherical in shape and can move in three-dimensional environments such as a four-propeller drone with high stability and the ability to follow paths that are predetermined on the map. The potential field was also studied and simulated in Two scenarios: the presence of randomly fixed obstacles to test the algorithm and used to find the semi-optimal path, and the second, the presence of moving obstacles in a collision path, and the algorithm was used to solve the problem and find a free path for each robot

The thesis aims to plan paths in three dimensions because of the great importance of autonomous vehicles in three-dimensional space to find the shortest path in order to reduce time and fuel consumed and other factors

The thesis concluded that the proposed algorithms outperformed their counterparts of the well-known algorithms as they were able to find shorter and smoother paths that enable the simplest control systems to fly the plane to follow the path.

The researcher recommended the possibility of using the algorithm in many applications, such as the possibility of applying one of the algorithms to specify the path of a group of planes without any collisions.