Online Cooperative Trajectory Planning for UCAV Formation in Uncertain Environment

Yuan Wang,Kexin Zhao,Zhenglei Wei,Changqiang Huang,Hanqiao Huang,Cong Liu

doi:10.1051/jnwpu/20183661145

Abstract

This paper presents a local online planning method based on hp adaptive pseudospectral method to address the cooperative trajectory planning of UCAV formation in uncertain environment. First, through analyzing attacking process of UCAV formation, the cooperative trajectory planning model is built up by taking UCAV threat, task time and the number of collision and the error of ordered time as the object function. Second, in order to solve the online cooperative trajectory planning, according to real-time environment information and offline planning data, the local planning method based on hp adaptive pseudospectral method is proposed during optimizing time slice. Last but not least, the simulation results for offline and online cooperative trajectory show that the proposed method is valid and can provide cooperative trajectory with high precise control and state information.

Highlights

This paper presents a local online planning method based on hp adaptive pseudospectral method to ad⁃ dress the cooperative trajectory planning of UCAV formation in uncertain environment
本文针对无人机编队在线协同轨迹规划问题进行了研究。根据编队协同轨迹规划的任务特点,基于 UCAV 运动学 / 动力学模型,结合相对运动方程, 建立了编队协同对地攻击轨迹规划模型;以编队代价为出发点,考虑了单机威胁代、编队成员间威胁以及执行指令时间误差,提出了协同轨迹规划的目标函数;根据在线协同轨迹规划的复杂实时环境特点, 通过局部重规划策略,设计了一种基于 hp 自适应伪谱法的在线轨迹规划算法;最后,对本文所设计的基于 hp 自适应伪谱法的协同轨迹规划从离线与在线 2 种情况进行仿真验证。仿真结果表明,该方法解算的轨迹能满足设定的约束条件,有效地解决了在线协同轨迹规划问题。