关键词: 威胁建模, 无人机(UAV), 梯度下降, 规则, 决策树, 目标跟随, 智能导航

Abstract: With the development of integrative combat, the task will be converted into target following mode when unmanned aerial vehicle (UAV) finishes searching ground moving target. Complex combat environment is considered, and the problem of UAV following moving target in the condition of multi-threats source are studied. An intelligent target following strategy based on decision trees is proposed in order to ensure the security of UAV and the precision of target following. Firstly, threat probability map (TPM) model was established. Secondly, the problem how to solve the minimum of TPM was researched. Then, the different rules were generated on the basis of the different priorities for object tasks by geometric method; the complete decision trees were established; the heading and speed commands of UAV were generated for different rules. Finally, simulation results demonstrate the validity of the proposed method.

Key words: threat modeling, unmanned aerial vehicle (UAV), gradient descent, rules, decision trees, target following, intelligent navigation