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为求解无人机群协同轮流攻击航迹规划,采用栅格模型法将飞行环境划分为大小相同的长方形空间,该方法不受威胁类型限制,栅格大小可任意选取,规划精度高,自主性强。采用双层规划法求解无人机协同轮流攻击航迹规划,将其分为航迹规划层及协同规划层,并给出求解步骤。实例仿真测试结果表明,该方法能准确生成符合时空协同要求的航迹,耗时短、鲁棒性强,且可满足实时性要求,表明该规划方法有效可行。
In order to solve the trajectory planning of coordinated drone attack of UAVs, the grid environment is divided into rectangular space with the same grid size. The method is not limited by the type of threat. The grid size can be chosen arbitrarily. The planning precision is high and autonomy is strong . The bi-level programming method is used to solve the trajectory planning of coordinated UAV attack in turn, which is divided into route planning layer and collaborative planning layer, and the solving steps are given. The simulation results show that this method can accurately generate trajectories that meet the requirements of space-time coordination, which is short in time and robust, and can meet the real-time requirements. It shows that the proposed method is effective and feasible.