基于栅格模型及双层规划的无人机三维协同轮流攻击航迹规划  

UAVs 3-D Cooperative Attack Path Planning by Turns Based on Grid Model and Bi-Level Programming

作　　者：胡中华[1] 赵敏[1] 姚敏[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏省南京市210016

出　　处：《中国电机工程学报》2011年第36期162-167,共6页Proceedings of the CSEE

基　　金：航空科学基金项目(2009ZC52041);南京航空航天大学基本科研业务费专项科研项目资助(NP2011005)~~

摘　　要：为求解无人机群协同轮流攻击航迹规划,采用栅格模型法将飞行环境划分为大小相同的长方形空间,该方法不受威胁类型限制,栅格大小可任意选取,规划精度高,自主性强。采用双层规划法求解无人机协同轮流攻击航迹规划,将其分为航迹规划层及协同规划层,并给出求解步骤。实例仿真测试结果表明,该方法能准确生成符合时空协同要求的航迹,耗时短、鲁棒性强,且可满足实时性要求,表明该规划方法有效可行。In order to solve the UAVs cooperative attack path planning by turns, a grid model method was used to divide the flight space into rectangle spaces. This method was fit for any threat type, and it＇s size could be arbitrarily set as the space size. It had some advantages such as high planning precision and strong independent. Secondly, the bi-level programming plan was proposed and the UAVs cooperative attack path planning includes two steps： the path planning layer and the cooperation planning layer. And solution steps were given. Simulation results shows that the method can generate accurate track which can meet requirements of space-time collaboration and real-time, so that the planning method is effective and feasible.

关 键 词：栅格模型 航迹规划 双层规划 协同攻击 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP301[自动化与计算机技术—控制科学与工程]