| Citation: | CHEN Qingyang, XIN Hongbo, WANG Yujie, et al. A rapid path planning method for multiple UAVs to cooperative strike[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(7): 1145-1153. doi: 10.13700/j.bh.1001-5965.2021.0022(in Chinese)
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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.
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