多UAV协同路径规划研究

Multi-UAV Coordinate Route Planning

将多UAV(Unmanned Aerial Vehicle无人飞行器)协同路径规划分为单机路径规划与多机协同。多机协同在单机路径规划基础上考虑各机的飞行时间、战术攻击策略等。先为每一UAV规划可飞航路,然后以攻击时间为协同变量,对规划路径进行调整,在部分UAV的路径中加入附加机动并(或)调整飞行速度和高度,实现多UAV的协同。仿真试验验证算法有效。

Multi-UAV （Unmanned Aerial Vehicle） cooperative route planning includes single-UAV route planning and multi- UA V cooperation. Multi- UA V cooperation depends on single- UA V route planning which takes flying span and tactical attack strategy into consideration. The fly-able route of each UAV is generated before cooperation comes into being, and assault time is chosen as cooperation variable. Cooperation of Multi-UAV is completed when some UAV takes extra-motion and （or） alters the velocity and altitude. Simulation results show efficiency of this method.