无人作战飞机自主攻击三维实时轨迹规划研究  

Three Dimensional Trajectory Planning Under Multiple Constraints for UCAVs in Autonomous Attacking

作　　者：刘鹤鸣[1] 黄长强[1] 董志[2] 李佑军[3] 赖志平[4] 

机构地区：[1]空军工程大学航空航天工程学院 [2]中国人民解放军驻沈飞军代表室 [3]中国人民解放军95214部队 [4]中国人民解放军广州军区空军装备部

出　　处：《电光与控制》2013年第6期34-39,共6页Electronics Optics & Control

基　　金：航空科学基金(20105196016)

摘　　要：以无人作战飞机挂载激光制导武器打击地面目标为研究背景,针对空对地武器投放过程的多约束和强实时性要求,提出自主攻击轨迹规划系统总体框架,建立了激光制导武器可发射区模型;在此基础上结合UCAV动力学约束,提出了一种基于改进A*算法的三维攻击轨迹决策算法。算法结合规划轨迹最优性约束和UCAV平台的运动学约束,选择扩展节点,从而降低了算法的复杂度;结合微积分的思想,取步长足够小,将步长范围内高度变化忽略不计,将UCAV水平方向和垂直方向飞行航迹独立解耦,并结合法向过载进行高度修正,从而有效避免了维数灾难问题。仿真结果表明,该算法能快速获得三维航迹,引导UCAV到达目标可发射区,且UCAV终端状态满足武器发射条件,为构建无人作战飞机自主攻击平台奠定了良好的基础。The issue of unmanned combat air vehicles （UCAV） to attack ground targets with laser guidance missile was studied. Considering the multiple constraints and high real-time requirement in air-to-ground weapon delivery trajectory planning, we proposed a general framework of autonomous attack trajectory planning system, established the Acceptable Launching Area （LAR） model for the missile, and proposed a strategy to generate 3D weapon delivery trajectories based on an improved A-star algorithm. This algorithm combined the optimal constraints and UCAV motion constraints to find the appropriate successor node, which can greatly decrease the complexity of the algorithm. We chose an appropriate step to eliminate height change within each step, which helped to separate horizontal plane and the vertical plane of the trajectory, and then revised the vertical trajectory height based on normal acceleration. Simulation results prove that this strategy can quickly generate a 3D weapon delivery trajectory which can lead the vehicle to the target LAR and satisfy the constraints for launching a missile.

关 键 词：三维攻击轨迹规划 无人作战飞机 可发射区 改进A＊算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计]