基于DMPC-PSO动态威胁下的多UAV在线航迹规划  

Multiple Unmanned Aerial Vehicles on-Line Route Planning under Dynamic Threat Based on DMPC-PSO

作　　者：李波[1] 屈原 郝巧梅 徐向丽[1] LI Bo;QU Yuan;HAO Qiaomei;XU Xiangli(Ordos Vocational College,Ordos 017000,China)

机构地区：[1]鄂尔多斯职业学院,内蒙古鄂尔多斯017000

出　　处：《内蒙古大学学报（自然科学版）》2023年第5期509-518,共10页Journal of Inner Mongolia University：Natural Science Edition

基　　金：内蒙古高等学校科学研究项目(NJZY20217);鄂尔多斯职业学院产教融合协同育人创新团队。

摘　　要：研究了多UAV在战场环境部分已知、突然出现动态威胁情况下的三维在线航迹规划问题。采用“预规划-在线轨迹跟踪”的模式,根据已知的地形和威胁信息,预先规划出多UAV飞行的参考航迹,然后在跟踪参考航迹的基础上,根据检测到的环境和威胁信息,采用DMPC-PSO进行航机规划,使多UAV可以避开突发的威胁和已知的威胁。为了更进一步说明DMPC-PSO算法的有效性,将DMPC-PSO算法用于多UAV的低空突防在线航迹规划。The three-dimensional track planning problem of multi-UAV is explored in the battlefield environment with sudden and dynamic threats.The"advance planning-online trajectory tracking"mode is used,according to the terrain and threat of known information,a reference track of multi-UAV flight in advance,and then on the basis of the tracking reference track,according to the detected information environment and threat,the DMPC-PSO is used for route planning,which make multi-UAV avoid the threat of attack and the known threats.In order to further illustrate the effectiveness of dmpc-pso algorithm,the DMPC-PSO algorithm is applied to the online track planning of low-altitude penetration defense of multi-UAV.

关 键 词：多无人机 动态威胁 在线航迹规划 分布式模型预测控制 粒子群算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计]