多UAV协同突防规划与仿真

Planning and simulation for multi-UAV cooperative penetration mission

针对在复杂大范围环境下低空突防的多无人飞行器,通过分析威胁环境和协同突防的相关要素,提出了协同规划框架.设计了基于空间冲突预处理的打击时序协同算法;提供突防效能计算的基于变步长时间同步目标分配算法;通过协同突防航迹选择优化算法的不断迭代计算,实现协同突防规划.仿真分析验证了规划算法的有效性.

This paper proposes a cooperative planning framework for multiple low-level penetration unmanned aerial vehicles（UAVs） by analyzing threat environments interfering factors of cooperative penetration. Based on space confliction, a strike order coordinate algorithm is designed to preprocess deconfliction. Then a synchronized target assignment algorithm of varying timing steps is provided to maximize penetration efficiency. An iterative UAV route optimal selection algorithm is described. Simulation analysis shows the effectiveness of the proposed planning algorithm.