基于协同作战的无人机航路重规划算法研究

Research on Rerouting Algorithm of Unmanned Aerial Vehicle Based on Cooperative Operation

无人机作为信息交互的天然载体,其与人工智能、态势感知、大数据分析进行技术融合,将进一步提升其在未来战争中的作用。有人机与无人机智能协同作战可扩展作战视域,其中无人机航线自主规划能增加无人机的自主控制能力,进而提升作战效率。现有的无人机航路规划算法存在诸多缺点,如算法计算量大、复杂度高、应对障碍与突发威胁的规避能力弱,无法满足现阶段无人机航路规划需求。因此,论文基于协同作战策略,依据无人机集群整体防撞准则改进无人机防撞系统模型,并结合稀疏D*航路重规划算法,提出一种改进式计算算法进行无人机航路重规划。根据理论分析和仿真验证了论文所提出的策略使无人机集群在面对变化的威胁环境时能快速重规划航线、减少在线重规划的计算量、提高航线规划效率、且规划出的航线满足无人机在飞行时间、高度和避障能力等方面的性能要求。

As a natural carrier of information interaction,Unmanned Aerial Vehicle(UAV)technology integration with artifi⁃cial intelligence,situational awareness and big data analysis will further enhance its role in future warfare.Intelligent human-ma⁃chine and UAC cooperative operation can expand the operational horizon,and autonomous route planning of UAV can increase the autonomous control ability of UAV,thus improving the operational efficiency.The existing route planning strategies of UAVs have some disadvantages,such as large amount of calculation,high computational complexity,and weak hedging ability.Based on the cooperative combat strategy,this paper proposes an improved UAV route re-planning strategy by combining improved UAV colli⁃sion avoidance system model based on the integral collision avoidance alignment of UAV cluster with the sparse D*-route re-plan⁃ning algorithm.According to the theoretical analysis and simulation,it is verified that the proposed strategy can make the UAV clus⁃ter re-plan the route quickly in the face of the changing threat environment,reduce the amount of online re-planning calculation,enhance router planning efficiency,and the planned route meets the requirements of UAV maneuverability.