基于冲突搜索的数字战场多无人机路径规划与仿真  

Multiple UAVs Path Planning and Simulation in Digital Battlefield Based on Conflict Search

作　　者：黄鼎勇 周芳 路遥[3] 朱峰 陈凯[1] HUANG Dingyong;ZHOU Fang;LU Yao;ZHU Feng;CHEN Kai(College of Systems Engineering,National University of Defense Technology,Changsha 410073,China;Science and Technology on Information Systems Engineering Laboratory,Nanjing 210023,China;College of Computer,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学系统工程学院,长沙410073 [2]信息系统工程重点实验室,南京210023 [3]国防科技大学计算机学院,长沙410073

出　　处：《指挥信息系统与技术》2022年第4期32-39,共8页Command Information System and Technology

基　　金：国家自然科学基金青年基金(61903368)资助项目。

摘　　要：数字化战场环境下,合理规划多无人机的飞行路径是实现无人机自主控制的关键。为解决现有的基于冲突搜索(CBS)的多无人机路径规划算法存在的转弯过多和角度过大的问题,提出了一种改进的CBS算法。首先,对多无人机路径规划问题进行建模,并在优化目标中考虑了危险区域的威胁成本和飞行动作的转弯成本;然后,对CBS算法的2层搜索结构进行了描述;最后,在3个场景中进行了仿真试验。仿真试验表明,该算法能够在安全区域中防止无人机相互碰撞,并可获得转弯次数更少且更平滑的路径。In the digital battlefield environment,rational planning of the flight path of multiple unmanned aerial vehicles(UAVs)is the key to realize autonomous control of UAVs.To solve the problems of too many turns and too arge angles in the existing multiple UAVs path planning algorithm based on conflict-based search(CBS),an improved CBS algorithm is proposed.Firstly,the problem of multiple UAVs path planning is modeled,and the threat cost of the dangerous area and the turning cost of the flight action are considered in the optimization objective.Then,two search layer structures of CBS algorithm are described.Finally,simulation tests are carried out in three scenarios.Simulation results show that the algorithm can prevent the UAVs from colliding with each other in the safe area,and can obtain a smoother path with fewer turns.

关 键 词：多无人机 路径规划 基于冲突的搜索 数字战场 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]