| Citation: | LIU Chang, XIE Wenjun, ZHANG Peng, et al. UAV real-time route planning logical architecture in complex threat environment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(10): 1948-1957. doi: 10.13700/j.bh.1001-5965.2019.0534(in Chinese)
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Facing the battlefield environment with high confrontation and strong rejection, real-time route planning is an important guarantee to ensure the Unmanned Aerial Vehicle (UAV) to complete combat missions and improve its survival probability. In order to enable UAV to choose the appropriate real-time route planning mode when facing different levels of complex threat environment, a real-time route planning logic structure of UAV based on fuzzy inference mechanism is proposed. Firstly, the real-time route planning mode is classified. From the perspective of autonomy, the human-machine authority allocation levels are re-divided, and the connection between the real-time route planning mode and the human-machine authority is established. Secondly, aimed at the risk of "trust crisis" in typical Observation, Orientation, Decision, Action(OODA) control cycle, a real-time route planning architecture based on variable autonomy is constructed and its logic is explained. Finally, the dynamic human-machine authority allocation of UAV system is realized by using fuzzy inference mechanism, and the real-time route planning mode is determined by judging the man-machine permission assignment level. The simulation results show that the logic structure of real-time route planning is reasonable and the method of variable autonomy is effective. After comprehensive analysis, the decision-making results of real-time route planning mode also accord with the actual operational requirements. Compared with the fuzzy comprehensive evaluation method, the proposed method has lower subjectivity, stronger practicability and more convincing results.
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