基于改进威胁代价的无人机路径在线重规划

UAV On-line Path Re-planning Based on Threats Evaluation Improved Algorithm

针对路径在线重规划中的威胁代价评估问题,提出了基于最大综合拦截概率的在线威胁代价评估改进算法。在该算法中,以已有威胁代价评估模型为基础,给出不同信息支持条件下的"瞬时跟踪概率"计算模块,进而引入"连续跟踪概率"概念,并结合"杀伤概率"得到"拦截概率"概念模块。在此基础上,提出"最大拦截概率"概念,以此作为单个主动威胁作用下的在线威胁代价评估标准,最后将其拓展到"最大综合拦截概率"作为多个主动威胁作用下的在线威胁代价评估标准。在此基础上,结合MPC算法给出路径在线重规划的模型。通过仿真结果对比,说明上述模型的合理性和算法的有效性。

Abstract： An improved threats evaluation algorithm is proposed for the on-line path re-planning of Unmanned Aerial Vehicle （UAV）. Based on the existing threat evaluation model, instantaneous radar tracking probability computation modules on condition of different information is given to calculate the continuous radar tracking probability. Kill probability on condition of continuous radar tracking is proposed. As a result, interception probability and maximum interception probability are figured out to provide an evaluation criterion for a single threat, while the maximum integrated interception probability is consider as the criterion for multiple threats. Based on the threats evaluation improved algorithm,Model Predictive Control （MPC） is adopted to implement the on-line path planning. Simulation results have shown that the model is more intelligent and the approach is more effective in path re-planning.