UFO Sighting in Harleysville, Pennsylvania on September 23rd 2015 – At dusk observed 4 large star like orange balls following each other across the sky then each one following the other ascended up until out of sight

On September 23rd 2015 at approximately 8 pm during a neighborhood walk at dusk i looked up and was startled to see 4 large orange star like balls moving across the sky. It was alarming because they were very large and at a low elevation and 4 of them moving in a row. There were no stars in the sky because it wasn't dark yet.There were also at least 2 planes in the sky at the same time at higher elevations with easily identifiable blinking lights.The orange balls of light seemed to be following each other but not in a straight line horizontally across the sky. They were so abnormal and close that I took cover under a nearby tree to observe them not wanting to keep walking toward them out in the open because I was afraid. As I watched the first orange ball of light ascended straight up into the atmosphere out of sight and then the 2nd and the third and the fourth like they were following each other.No one else was walking on the street to see but cars were going by. I was thinking that the planes must have seen them but i don't know they were flying so much lower to the ground than the planes. Afterward I felt disturbed and worried about what they were.