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兵工学报 ›› 2021, Vol. 42 ›› Issue (7): 1482-1495.doi: 10.3969/j.issn.1000-1093.2021.07.016

• 论文 • 上一篇    下一篇

多目标时空同步协同攻击无人机任务分配与轨迹优化

张云飞, 林德福, 郑多, 程子恒, 唐攀   

  1. (北京理工大学 宇航学院, 北京 100081)
  • 上线日期:2021-07-30
  • 通讯作者: 郑多(1987—),男,预聘助理教授(特别副研究员) E-mail:zhengduohello@126.com
  • 作者简介:张云飞(1996—), 男, 硕士研究生。E-mail: bitzhangyf@163.com
  • 基金资助:
    国家自然科学基金项目(61903350)

Task Allocation and Trajectory Optimization of UAV for Multi-target Time-space Synchronization Cooperative Attack

ZHANG Yunfei, LIN Defu, ZHENG Duo, CHENG Ziheng, TANG Pan   

  1. (School of Astronautics, Beijing Institute of Technology, Beijing 100081, China)
  • Online:2021-07-30

摘要: 针对复杂战场环境下分布式无人机对多目标协同打击任务,提出多目标攻击的任务分配与轨迹优化算法。建立典型多目标打击的任务场景和无人机模型;基于Delaunay三角形理论,以禁飞区为节点构建搜索地图;运用A*算法实现威胁最小的单机路径搜索;在无人机动力学约束和能耗损失最小的基础上,引入时间调节因子,采用基于贝塞尔曲线的分布式无人机时空同步轨迹优化方法,得到对多目标同时打击的优化轨迹;设计轨迹跟踪控制器,对预规划轨迹进行跟踪仿真。仿真结果表明,多目标攻击的任务分配与轨迹优化方法能够对多目标实现多角度、时空同步、分布式协同打击,且对噪声及阵风等具有较强的抗干扰能力。

关键词: 无人机, 飞行器设计, 多目标攻击, 分布式协同, 任务分配, 轨迹优化, 时空同步

Abstract: A task allocation and trajectory optimization algorithm for multi-target attack is proposed for the coordinated attack task of distributed UAVs attacking multiple targets in a complex battlefield environment. The typical multi-target strike mission scenarios and UAV models are established. A search map with no-fly zones as nodes is constructed based on Delaunay triangle theory. A* algorithm is used to achieve the least threatening single-aircraft path search. In terms of UAV dynamics constraints and minimum energy loss, the time adjustment factor is introduced and the distributed UAV time-space synchronization trajectory optimization method based on Bezier curve is adopted to obtain the optimized trajectory for simultaneous attack on multiple targets. A trajectory tracking controller was designed for simulation track of pre-planned trajectory. The simulated results show that the proposed multi-target attack task allocation and trajectory optimization method can achieve multi-angle, time-space synchronization, and distributed coordinated attack on multiple targets, and it has strong robustness against interference such as noise and wind gusts.

Key words: unmannedaerialvehicle, flightvehicledesign, multi-targetattack, distributedcooperation, taskallocation, trajectoryoptimization, time-spacesynchronization

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