基于混合策略的UCAV攻击轨迹在线规划方法

Online Planning Method for UCAV Attack Trajectory Using Multi-Strategies

针对无人作战飞机(unmanned combat aerial vehicle,UCAV)在线轨迹规划问题,提出了一种基于混合策略的方法。首先,针对动态不确定环境,设计了基于事件触发的轨迹滚动规划方案;其次,基于UCAV飞行性能约束对数字地形进行平滑处理,生成安全可飞行曲面;再次,提出了利用函数表征重规划段轨迹的方法,分析了轨迹函数特性和端点约束处理方法,进而将轨迹规划问题转化为轨迹函数寻优问题,减少了轨迹寻优参数数量;最后,引入平均速度和FUCH混沌映射对粒子群算法进行改进,并利用其对轨迹函数进行寻优。数字仿真结果表明,利用该方法完成一次轨迹在线重规划只需0.2 s,表明了该方法具有较好的实时性,能满足轨迹在线规划要求。

A trajectory online planning method using multi-strategies is proposed for UCAV. Firstly, to copy with dynamic and changeable environment, we design an event triggered trajectory rolling planning program. Secondly, according to UCAV flying bounds, a safe and flyable curve generating method is designed by smoothing on digital geographical map. Thirdly, make use of function to replace with re-planning trajectory, analyze trajectory function speciality and terminal point handling methods, translating trajectory planning problem to trajectory function optimal problem ; this reduces the number of optimal parameters. Lastly, we improve particle swarm optimization on its iner- tia weight and stagnant particles by introducing average speed and FUCH chaos mapping; this improves its conver- gence and global optimality ; then we make use of the improved method to search for optimal trajectory function. Re- suits of simulation show that the method proposed by us accomplishes an online trajectory re-planning in only 0.2s; clearly our method meets the requirements of trajectory online re-planning with its good real-time ability.