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为解决多弹协同低空突防航迹规划问题,提出了一种可在动态环境中进行离线和在线协同规划的混合粒子群优化算法。采用分解策略将多弹协同航迹规划总体结构分为两层:航迹规划层与协同规划层。分别针对单目标和多目标进行了多弹离线和在线仿真验证,结果表明该算法可针对突发威胁实时规划出多条三维航迹,并满足时间协同要求。
In order to solve the problem of multi-bomb cooperative low-altitude pedestrian trajectory planning, a hybrid particle swarm optimization algorithm is proposed for off-line and online collaborative planning in dynamic environment. The disassembly strategy is used to divide the overall structure of multi-bomb coordinated flight path planning into two levels: the flight path planning level and the coordinated planning level. The multi-bomb offline and online simulations for single-target and multi-target respectively are carried out. The results show that this algorithm can plan multiple 3D trajectories in real time for sudden threats and meet the time coordination requirements.