基于T/S-SAS的多无人机四维协同攻击航线生成  

Generation of Multi-UAV Four-dimensional Cooperative Attack Route Based on T/S-SAS

作　　者：张堃[1,2] 刘泽坤 华帅 张振冲 李珂 于竞婷 ZHANG Kun;LIU Zekun;HUA Shuai;ZHANG Zhenchong;LI Ke;YU Jingting(School of Electronics and Information,Northwestern Polytechnical University,Xi'an 710072,Shaanxi,China;Science and Technology on Electro-Optic Control Laboratory,Luoyang 471000,Henan,China;AVIC(Chengdu)UAS Co.,Ltd.,Chengdu 611743,Sichuan,China)

机构地区：[1]西北工业大学电子信息学院,陕西西安710072 [2]光电控制技术重点实验室,河南洛阳471000 [3]中航(成都)无人机系统股份有限公司,四川成都611743

出　　处：《兵工学报》2023年第6期1576-1587,共12页Acta Armamentarii

基　　金：国防科技基础加强计划项目(2020年);航空科学基金项目(20200051053001);陕西省自然科学基础研究计划项目(2020JM-147)。

摘　　要：针对多无人机攻击目标时间协同以及飞行航线空间协同问题,提出基于时间与空间双协同稀疏A*搜索(T/S-SAS)算法的多无人机四维协同攻击航线生成算法。改进飞行扩展节点模型,设计基于并发扩展的算法结构,建立时间协同代价计算模型与多机防碰撞约束模型,并开展仿真研究。研究结果表明:所提算法能够增强无人机攻击航线的规划效率、减少不同无人机抵达目标的协同攻击时间极差、解决不同无人机之间的空间防碰撞问题;该算法使多无人机协同攻击航线满足时间/空间约束,提升了多无人机协同时间打击性能及飞行路线空间协同性能,提高无人机协同作战效率与作战能力。To address the problem of target attack time coordination and route space coordination of multiple UAVs,a multi-UAV four-dimensional cooperative attack route generation algorithm based on the T/S-SAS(Time/Space Dual Cooperative Sparse A*Search)algorithm is proposed.The flight expansion node model is improved,an algorithm structure based on concurrent expansion is designed,and a cost calculation model for time coordination as well as a multi-UAV anti-collision constraint model are established.Simulations are performed.The results show that the proposed algorithm can enhance the planning efficiency of UAV attack route,shorten the range in coordination time for different drones to reach the target,and solve the anti-collision problem for different UAVs.The multi-UAV cooperative attack route can meet the time/space constraints,allowing the multi-UAV strike performance at cooperative time and the flight route space coordination performance to be improved,and the operational efficiency and capability of multi-UAV cooperative combat to be increased.

关 键 词：多无人机 双约束 四维协同 攻击航线生成 

分 类 号：V279[航空宇航科学与技术—飞行器设计]