基于区域划分的反舰导弹航路规划算法

Path planning algorithm for anti-ship missile based on regional division

针对反舰导弹(anti-ship missile,ASM)传统航路规划中难以兼顾巡航安全和快速抵近目标的问题,提出了基于区域划分的航路规划算法。首先,依据目标点和战术区中心点相对位置关系分别建立"远离威胁战术区"和"抵近目标战术区"模型。然后,在威胁战术区采用Dijkstra算法计算Voronoi图的最短航程并进行自适应折线化处理;在目标战术区采用二叉树算法快速规划最短航程\最少转向点航路。仿真结果表明,所提方法相比Voronoi图的路径参数更加优化,相比二叉树算法更加安全,同时生成的航路规划网能够为多枚导弹协同攻击提供全局性航路参考。

In the traditional path planning of anti-ship missile (ASM), it is difficult to take into account the problem of both cruising security and fast approaching target;for this, an algorithm of path planning based on regional division is proposed. Firstly, the models of “threat tactical area” and “target tactical area” are established respectively based on the relative positions of the target point and the tactical area. Secondly, the “threat tactical area” is used to calculate the shortest distance of Voronoi diagram by Dijkstra algorithm, then the self-adaptive fold line is used to process the path. The “target tactical area” is used to quickly plan the shortest distance and the minimum number of turning points path by the binary tree algorithm. Simulation results show that the proposed algorithm has more optimal path parameters compared with the Voronoi diagram and is more secure than the binary tree algorithm. At the same time, the generated path planning network can provide multiple path references for the cooperative attacking of anti-ship missile.