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针对多无人机协同工作的航线规划问题要求,运用不同算法,采用多种约束条件设计出合适的方案。利用避圈法求对每一目标群进行对目标侦查的最短路径,以不少于10个目标群的约束条件下,得出10个目标群内部的最短侦查路径及侦查顺序,利用退火算法得出各目标群及其内部的最短路径。设计出对所有目标的侦查方案,使得侦查无人机滞留防御方雷达区时长最短,并提出实际应用中较可行性的方案。
Aiming at the route planning problem of multi-UAV collaborative work, we use different algorithms and adopt a variety of constraints to design a suitable scheme. Using the method of avoiding circles to find the shortest path to target detection for each target group, the shortest path and the sequence of investigation within 10 target groups are obtained under the constraint of not less than 10 target groups. Using the annealing algorithm, The shortest path to each target group and its internal. Designing a reconnaissance plan for all targets makes it possible to detect the shortest duration of the UAV radar and provide a more realistic solution.