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通过调控飞行器在各个航迹段的速度,提出了一种基于进化算法的带集结区的多飞行器协同航迹规划方法。该方法通过将协同时间误差引入进化算法的代价函数中,使得规划出来的航迹能够满足集结区的时间和空间约束,同时使得协同到达目标点时间误差尽可能小。仿真实验结果表明该方法能够达到很好的效果。
By regulating the speed of the aircraft in each flight path segment, a multi-aircraft cooperative trajectory planning method with staging area based on evolutionary algorithm is proposed. This method introduces the coordinated time error into the cost function of evolutionary algorithm, so that the planned trajectory can meet the time and space constraints of the staging area and the time error of the coordinated arriving destination is minimized. Simulation results show that the method can achieve good results.