Benchmark Simulation Dataset for Low-Altitude Aircraft Swarms Formation Obstacle Avoidance and Trajectory Cooperation Planning

This dataset contains research data associated with the article "Low-Altitude Aircraft Swarms Formation Obstacle Avoidance and Trajectory Cooperation Planning." The data were derived from benchmark simulations conducted in MATLAB R2022b for formation obstacle avoidance and trajectory planning of low-altitude aircraft swarms. Four randomized low-altitude flight scenarios were considered: Building 1, Building 2, Forest 1, and Forest 2.

The experiments compare the front-end path-search methods RRT-connect, RRT$^{\ast}$, and A-RRT$^{\ast}$, together with the back-end trajectory-optimization methods quadratic programming (QP) and non-uniform B-spline.The current data file, data_new.xls, contains aggregated statistics calculated from 100 independent runs. It includes 16 valid scenario-method records across the four scenarios. For each record, the mean and standard deviation of planning time, trajectory cost, and trajectory length are reported.