一种多机协同打击的快速航迹规划方法

陈清阳; 辛宏博; 王玉杰; 唐钟南; 贾高伟; 朱炳杰

doi:10.13700/j.bh.1001-5965.2021.0022

一种多机协同打击的快速航迹规划方法

doi: 10.13700/j.bh.1001-5965.2021.0022

国防科技大学空天科学学院, 长沙 410073

基金项目:

国家自然科学基金 61801495

详细信息

通讯作者:
陈清阳, E-mail: chy1982_008@nudt.edu.cn

中图分类号: V249.122⁺.3
计量
- 文章访问数: 44
- HTML全文浏览量: 12
- PDF下载量: 12
- 被引次数: 0
出版历程
- 收稿日期: 2021-01-15
- 录用日期: 2021-05-07
- 刊出日期: 2021-05-17

A rapid path planning method for multiple UAVs to cooperative strike

College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China

Funds:

National Natural Science Foundation of China 61801495

More Information

Corresponding author: CHEN Qingyang, E-mail: chy1982_008@nudt.edu.cn

摘要

摘要:
针对多架自杀式无人机对重要目标进行协同打击的问题，在飞行器运动学、飞行器碰撞、时空协同等约束条件下，提出了一种空间分层分布的协同打击策略，在满足飞行器碰撞约束的前提下，有效提高了对重要目标防御系统的抵抗能力与飞行器自身的生存率。在此基础上，进一步提出了一种空间协同的多机打击快速航迹规划方法，结合Dubins曲线，将飞行器数目增加带来的计算量指数增长的问题，转化为多项式乘积形式的计算量，实时生成满足时空协同要求的次优航迹。通过仿真实验与实际飞行试验验证了所提方法的有效性，无人机可以在生成航迹的引导下，有效到达打击目标。
- 自杀式无人机 /
- 协同打击 /
- 空间分层 /
- 碰撞约束 /
- 航迹规划 /
- Dubins曲线
Abstract:
Focusing on the cooperative strike problem to important with multiple suicide UAVs, a cooperative striking strategy based on hierarchical space distribution is proposed. The strategy is proposed with the vehicle kinematic constraint, the collision constraint of UAVs, and the space-time cooperative constraint. With the proposed strategy, the collision constraint can be solved. What's more, with the strategy, the resistibility of the UAVs to the recovery system of the target can be improved, and the chance of survival can be increased. A rapid path planning method for multiple UAVs with space cooperative requirements is proposed. The Dubins curve is combined in the method, and the exponential increment of computation with the number of UAVs is transformed intoa polynomial form. The real-time requirement can be satisfied with the method, and sub-optimal trajectories can be generated. Simulation and flight experiments are carried out, and the results show that the UAVs can be guided to the target with the generated paths effectively, and the effectiveness of the proposed method is verified.
- suicide UAV /
- cooperative strike /
- hierarchical space /
- collision constraint /
- path planning /
- Dubins curve

HTML全文

图 1 多机协同打击航迹规划问题示意图

Figure 1. Demonstration of path planning problem for cooperative strike with multiple UAVs

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图 2 空间分层分布的协同打击策略示意图

Figure 2. Demonstration of cooperative strike strategy based on hierarchical space distribution

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图 3 Dubins曲线的4种构型

Figure 3. Four different types of Dubins curves

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图 4 模拟打击结果

Figure 4. Simulation results of cooperative strike

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图 5 飞行试验平台

Figure 5. Experimental flight platforms

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图 6 飞行控制系统

Figure 6. Flight control system

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图 7 模拟打击过程系统框架

Figure 7. Architecture of flight striking system

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图 8 三机协同打击试验结果

Figure 8. Experimental results of cooperative strike with three UAVs

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表 1 仿真实验的规划结果

Table 1. Planned results during simulation

无人机序号	规划航线长度/m
UAV0	3 232.8
UAV1	3 205.4
UAV2	3 206.1
UAV3	3 197.7
UAV4	3 218.5
UAV5	3 204.6
UAV6	3 218.1
UAV7	3 218.2

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表 2 飞行试验的规划结果

Table 2. Planned results during flight experiment

无人机序号	规划航线长度/m
UAV0	1 876.4
UAV1	1 913.1
UAV2	1 865.8

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