基于DMPC-PSO动态威胁下的多UAV在线航迹规划

Multiple Unmanned Aerial Vehicles on-Line Route Planning under Dynamic Threat Based on DMPC-PSO

研究了多UAV在战场环境部分已知、突然出现动态威胁情况下的三维在线航迹规划问题。采用“预规划-在线轨迹跟踪”的模式,根据已知的地形和威胁信息,预先规划出多UAV飞行的参考航迹,然后在跟踪参考航迹的基础上,根据检测到的环境和威胁信息,采用DMPC-PSO进行航机规划,使多UAV可以避开突发的威胁和已知的威胁。为了更进一步说明DMPC-PSO算法的有效性,将DMPC-PSO算法用于多UAV的低空突防在线航迹规划。

The three-dimensional track planning problem of multi-UAV is explored in the battlefield environment with sudden and dynamic threats.The"advance planning-online trajectory tracking"mode is used,according to the terrain and threat of known information,a reference track of multi-UAV flight in advance,and then on the basis of the tracking reference track,according to the detected information environment and threat,the DMPC-PSO is used for route planning,which make multi-UAV avoid the threat of attack and the known threats.In order to further illustrate the effectiveness of dmpc-pso algorithm,the DMPC-PSO algorithm is applied to the online track planning of low-altitude penetration defense of multi-UAV.