基于博弈策略的多无人机航迹规划研究

Research on Path Planning Based on Game Strategy for Multiple UAVs

在综合考虑无人机航迹规划和任务分配的性能指标基础上,提出了目标移动环境下基于博弈策略的多无人机航迹规划方法。采用Voronoi图方法创建了威胁场,建立了航迹威胁总代价函数,并建立了航迹代价和任务分配的综合目标函数,从而构建了基于博弈策略的多无人机航迹规划目标函数。将目标移动加入到航迹规划中,利用快速扩展随机树(Rapidly-exploring Random Tree,RRT)算法得到比较合理的局部航迹规划。仿真算例表明,该方法不仅能保证各飞行器选择基于博弈策略的敌我双方最优航迹,而且可以提高多无人机攻击移动目标的整体作战效能,有效的提高作战能力。

Considering the performance indicators of UAV path planning and task assignment,the path planning method of Multi-UAV path planning studying based on Game Strategy under the environment of moved target is proposed.Firstly,the Voronoi diagram method is used to create threat field,and the total path planning cost is established.Then,the function based on the path cost and task assignment is established,and the function of multi-UAV path planning based on game trajectory is proposed.Lastly,the moved target is added to the path planning,a reasonable path planning scheme is obtained by using RRT algorithm.The simulation results show that the method can not only ensure all UAVs select the optimal path based on game strategy,but also can improve the overall combat effectiveness of multi-UAV combat moving targets,and effectively improve the combat capability of the UAV.