基于动态环境的多无人机协同攻击路径规划

Route planning for Cooperative Attacking Targets of Multi-Unmanned Aerial Vehicles

针对动态环境下多无人机协同攻击的路径规划,提出将其分解为起飞前规划和路径重规划两个阶段,并将每个阶段分解为路径生成与路径协同两个子问题。并提出一种新的路径协同方法,即通过附加最小转弯使每架无人机的飞行路径大致相等,并通过进一步调整飞行速度使每一架无人机到达目标的时间相等。最后经仿真证明了该算法能满足动态环境下多机协同路径规划的要求。

For route planning of Multi-Unmanned Aerial Vehicles（UAVs） on dynamic environment, A method is presented to divide the whole process in to two stage：Planning before takeoff, Re-planning in flight. Each stage can be concluding two questions, Route Generation and Route Cooperation. A new cooperative route planning method is presented, this method uses minim circle to form the path to let the Route Length nearly equal, Then Adjust each UAV＇s speed to make them arrive the target simultaneity. Finally the simulation results show the efficiency of the algorithms.