| 引用本文: | 李银通,韩统,聂光戍,周欢,赵辉.多UCAV协同打击多目标实时三维航迹规划[J].哈尔滨工业大学学报,2021,53(6):128.DOI:10.11918/202006107 |
| LI Yintong,HAN Tong,NIE Guangshu,ZHOU Huan,ZHAO Hui.Real-time 3D trajectory planning of multi-UCAV for cooperative multi-target attacking[J].Journal of Harbin Institute of Technology,2021,53(6):128.DOI:10.11918/202006107 |
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| 摘要: |
| 为提高无人作战飞机(Unmanned combat aerial vehicle, UCAV)协同实时航迹规划的实时性和可操作性,针对多架UCAV协同执行对地作战任务过程中的协同实时航迹规划问题,提出一种基于自学习策略和Lévy飞行的正弦余弦优化算法(Sine cosine optimization algorithm with self-learning strategy and Lévy flight,SCASL)的多UCAV协同打击多目标实时三维航迹规划方法.首先,构建三维任务空间模型并根据UCAV平台性能设计了飞行速度、飞行高度、相对距离以及威胁规避等约束条件；其次,基于UCAV的三自由度运动学和动力学质点模型设计了协同实时航迹规划的决策变量；最后,根据UCAV作战使用战术原则构建了目标函数将协同实时航迹规划问题转化为优化问题,采用所提出的自学习策略和Lévy飞行的正弦余弦优化算法对模型进行求解,并采用病毒搜索算法（Virus colony search, VCS）求解模型作为对比实验. 仿真结果表明, 同等条件下,VCS求解模型得到的仿真结果满足协同性要求但不满足实时性要求,SCASL求解模型得到的仿真结果满足实时性与协同性要求,验证了本文所提出的基于SCASL的多UCAV协同实时航迹规划方法的有效性与优越性. |
| 关键词: 无人作战飞机 协同航迹规划 实时三维航迹规划 正弦余弦优化算法 优化问题 |
| DOI：10.11918/202006107 |
| 分类号:V279;TP311 |
| 文献标识码:A |
| 基金项目:航空科学基金(9,2)；陕西省自然科学基金(2020JQ-481) |
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| Real-time 3D trajectory planning of multi-UCAV for cooperative multi-target attacking |
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LI Yintong,HAN Tong,NIE Guangshu,ZHOU Huan,ZHAO Hui
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(College of Aeronautics Engineering, Air Force Engineering University, Xi’an 710038,China)
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| Abstract: |
| In view of the problem of collaborative real-time trajectory planning during the execution of ground combat missions by multiple unmanned combat aerial vehicles (UCAV), a real-time 3D trajectory planning method based on the sine cosine optimization algorithm with self-learning strategy and Lévy flight (SCASL) for multi-UCAV cooperatively attacking multi-targets was proposed to improve the real-time performance and operability of UCAV collaborative real-time trajectory planning. Firstly, the model of 3D mission space was constructed, and the constraints of flight speed, flight altitude, relative distance, and threat avoidance were designed according to the performance of UCAV. Secondly, the decision variables of collaborative real-time trajectory planning were designed based on the three-degree-of-freedom kinematics and dynamic particle model of UCAV. Finally, the objective function was constructed by transforming the collaborative real-time trajectory planning problem into an optimization problem according to the tactical principle of UCAV operations. The proposed SCASL was applied to solve the model, and the virus search algorithm (VCS) was adopted for comparison. Simulation results show that under the same conditions, the results obtained by VCS met the requirement of collaboration but not real-time, while the results obtained by SCASL met the requirements of both real-time and collaboration, which verifies the validity and superiority of the SCASL-based multi-UCAV collaborative real-time 3D trajectory planning method proposed in this paper. |
| Key words: UCAV cooperative trajectory planning real-time 3D trajectory planning sine and cosine optimization algorithm optimization |
