多架无人机协同作战的路径规划

Trajectory Planning for Coordinated Rendezvous of Unmanned Air Vehicles

提出了一种协调多架无人机的编队同时到达目标的航路规划方法。首先根据敌方防御区域内雷达、导弹等威胁阵地的具体分布情况,采用划分Voronoi多边形的方法制定初始航路,然后通过叠加定长线段到初始航路上对初始航路进行离散化,最后采用动态链类比法调整航路并对航路进行光顺优化处理,使航路安全可飞。并用数字仿真技术对该方法进行了验证,结果表明该方法是可行的。

A path planning strategy is developed for the coordinated multiple unmanned vehicles （UAVs）. Firstly,an initial path from the projection start position to the target position can be devised by constructing a Voronoi diagram based upon the locations of the threats. Then the initial path is discretized for adjustment and smoothing. At last the desirable paths to the target are obtained by simulating the dynamic chain in a potential field. The result for multiple vehicles is a set of smooth and flyable paths with equal length that reduces exposure to threats. The simulation result shows that this strategy woks well and makes it possible for the simultaneous arrival of UAVs formation at the target.