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ZHANG Y F , LIN D F , ZHENG D , et al . Task allocation and trajectory optimization of uav for multi-target time-space synchronization cooperative attack [J ] . Acta Armamentarii , 2021 , 42 ( 7 ): 1482 - 1495 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.07.016 http://doi.org/10.3969/j.issn.1000-1093.2021.07.016 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.

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