多目标时空同步协同攻击无人机任务分配与轨迹优化

Task Allocation and Trajectory Optimization of UAV for Multi-target Time-space Synchronization Cooperative Attack

针对复杂战场环境下分布式无人机对多目标协同打击任务,提出多目标攻击的任务分配与轨迹优化算法。建立典型多目标打击的任务场景和无人机模型;基于Delaunay三角形理论,以禁飞区为节点构建搜索地图;运用A*算法实现威胁最小的单机路径搜索;在无人机动力学约束和能耗损失最小的基础上,引入时间调节因子,采用基于贝塞尔曲线的分布式无人机时空同步轨迹优化方法,得到对多目标同时打击的优化轨迹;设计轨迹跟踪控制器,对预规划轨迹进行跟踪仿真。仿真结果表明,多目标攻击的任务分配与轨迹优化方法能够对多目标实现多角度、时空同步、分布式协同打击,且对噪声及阵风等具有较强的抗干扰能力。

A task allocation and trajectory optimization algorithm for multi-target attack is proposed for the coordinated attack task of distributed UAVs attacking multiple targets in a complex battlefield environment.The typical multi-target strike mission scenarios and UAV models are established.A search map with no-fly zones as nodes is constructed based on Delaunay triangle theory.A*algorithm is used to achieve the least threatening single-aircraft path search.In terms of UAV dynamics constraints and minimum energy loss,the time adjustment factor is introduced and the distributed UAV time-space synchronization trajectory optimization method based on Bezier curve is adopted to obtain the optimized trajectory for simultaneous attack on multiple targets.A trajectory tracking controller was designed for simulation track of pre-planned trajectory.The simulated results show that the proposed multi-target attack task allocation and trajectory optimization method can achieve multi-angle,time-space synchronization,and distributed coordinated attack on multiple targets,and it has strong robustness against interference such as noise and wind gusts.