基于滚动时域优化的反舰导弹航路规划

A path planning method for an anti-ship missile based on receding horizon optimal procedure

针对反舰导弹作战过程中需要绕开我方安全禁飞区、敌方雷达探测与防空火力等威胁区,特别是动态威胁区等情况,提出基于滚动优化算法开展动态威胁下的航路规划方法,开展在线航迹动态规划研究。首先,在航路规划问题的数学抽象基础上,建立了基于能量、航时、航程指标函数且满足运动学模型和飞行包线等约束的规划模型。其次,提出基于滚动时域优化(RHO)和伪谱法与样条曲线修正的航路规划算法,并通过分时段逐段规划航路和求解控制输入量。最后,针对不同威胁环境、指标函数情况的仿真实验表明:算法高效、可行、可信;不同指标函数优化侧重不同但结果具有正相关性;RHO方法可以避开威胁区域,从而提高导弹突防概率。此外,RHO的分时段优化思想可有效解决动态威胁区的航路规划,为在线规划提供了思路。

ion of the path planning problem,a planning model is formulated based on the energy,flight time and range index functions and satisfied with the constraints such as kinematic models and flight envelopes.And then,the path planning algorithm based on receding horizon optimization(RHO)and pseudo-spectral method with Bézier curves correction is proposed,and the segmented paths and control inputs of the missile are solved by segment-by-segment in time periods.Finally,simulation trials for different threat scenarios and index functions show that:the algorithm is efficient,feasible,and credible;different index functions are optimized with different emphasis,but the results are positively correlated;the RHO method can avoid the threat zones,thus improve the missile defense-penetration probability.In addition,RHO’s concept of time-phased can effectively solve the path planning in dynamic threat areas and provide ideas for online planning.