Volume 36, Number 6, December 2018
|Page(s)||1145 - 1155|
|Published online||12 March 2019|
Online Cooperative Trajectory Planning for UCAV Formation in Uncertain Environment
Aeronautics Engineering College, Air Force Engineering University, Xi'an 710038, China
2 Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an 710072, China
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.
Key words: UCAV formation / online cooperative trajectory planning / optimizing time slice / hp adaptive pseudospectral method / simulation / uncertain environment
关键字 : 无人机编队 / 在线协同轨迹规划 / 优化时间片 / hp自适应伪谱法
© 2018 Journal of Northwestern Polytechnical University. All rights reserved.
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