多架无人机协同攻击目标的研究  

Study on Unmanned Aircraft Vehicles Cooperatively Attacking Targets

作　　者：董世友[1] 祝小平[1] 龙国庆[1] 

机构地区：[1]西北工业大学无人机研究所,陕西西安710072

出　　处：《弹箭与制导学报》2004年第S3期246-248,共3页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：根据战场中敌方阵地的威胁分布情况,采用分层的思想来协同多架无人机的航路。在产生 Voronoi 图的基础上,利用相切圆算法来规划出满足无人机的动态约束条件的最快航路,同时采用航路补偿的方法来使无人机同时到达目标从而增加任务的突然性和有效性。仿真的结果表明了算法的可行性。This paper presents a real-time,feasible,trajectory generation algorithm for unmanned air vehicles (UAVs)flying through a sequence of waypoints.The trajectory is time optimal and safety.In addition,the algorithm can be configured so that the path can be the same length.Based the location of threats in a scenario,the key idea is decomposition strategy,First,a preliminary path is generated from a Voronoi diagram based on threat locations;inscribed circle is used to connect these waypoint and refine the path into an optimum path that is flyable by the UAVs.Simulation results shows the approach availahly.

关 键 词：无人机 航路规划 协同攻击 VORONOI 图 

分 类 号：V279[航空宇航科学与技术—飞行器设计]