Online Cooperative Trajectory Planning for UCAV Formation in Uncertain Environment

不确定条件下无人机编队在线协同轨迹规划研究

¹ Aeronautics Engineering College, Air Force Engineering University, Xi'an 710038, China
² Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an 710072, China

Received: 19 January 2018

Abstract

This paper presents a local online planning method based on hp adaptive pseudospectral method to address the cooperative trajectory planning of UCAV formation in uncertain environment. First, through analyzing attacking process of UCAV formation, the cooperative trajectory planning model is built up by taking UCAV threat, task time and the number of collision and the error of ordered time as the object function. Second, in order to solve the online cooperative trajectory planning, according to real-time environment information and offline planning data, the local planning method based on hp adaptive pseudospectral method is proposed during optimizing time slice. Last but not least, the simulation results for offline and online cooperative trajectory show that the proposed method is valid and can provide cooperative trajectory with high precise control and state information.

摘要

针对不确定条件下无人作战飞机编队协同轨迹规划问题，提出了一种基于hp自适应伪谱法的局部在线规划方法。首先，通过对无人机编队攻击过程进行分析，建立了以单机威胁、任务执行时间、编队空间碰撞次数和指令时间误差为目标函数的协同轨迹规划数学模型。其次，为了解决在线协同轨迹规划问题，在优化时间片内根据实时环境信息和离线规划数据，给出了基于hp自适应伪谱法的局部规划方法。最后，从离线与在线2种情况分别对该方法进行仿真验证。仿真结果表明，该方法能有效地进行在线协同轨迹规划，而且能提供编队轨迹规划的高精度控制变量和状态变量信息。