面向海上目标打击的无人编组弹性运动规划  

Unmanned group resilient motion planning for attacking sea surface targets

作　　者：李博宸 牛双诚 丁璐 王成罡 宋磊 晋玉强[2] LI Bochen;NIU Shuangcheng;DING Lu;WANG Chenggang;SONG Lei;JIN Yuqiang(School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Aeronautical Operations College,Naval Aviation University,Yantai 264001,China;School of Electrical Engineering,Guangxi University,Nanningg 530004,China;Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240 [2]海军航空大学航空作战勤务学院,烟台264001 [3]广西大学电气工程学院,南宁530004 [4]上海交通大学海洋智能装备与系统教育部重点实验室,上海200240

出　　处：《航空学报》2024年第12期224-238,共15页Acta Aeronautica et Astronautica Sinica

基　　金：装备预研教育部联合基金(8091B022235);上海交通大学深蓝计划(SL2022MS010,SL2022MS008);国防科技重点实验室基金(2022JCJQLB03308)。

摘　　要：针对空海无人编组对海上目标的高效能打击任务需求,提出了一种能够应对敌方攻击的弹性运动规划方法。结合作战单元欠驱动运动学模型,根据敌我相对运动状态设计了控制障碍函数,并在考虑敌方最大程度破坏安全边界的前提下构建了安全集前向不变性约束,从而通过配置作战单元的线速度和角速度生成威胁规避动作。为解决己方无人机遭遇多架敌机拦截时由多约束冲突导致的算法可行性问题,在约束中引入与敌机威胁大小相关的松弛变量系数并设计(UAV)了备用控制器。在此基础上,提出无人艇对空火力支援算法,以协助己方无人机突防。仿真结果表明,该方法能够使己方编组在敌方无人机速度占优且采用最优追击策略的情况下,获得较高的水面目标打击成功率。To achieve high efficacy of a strike mission on targets at sea using air-sea unmanned groups,a resilient motion planning method which can handle adversarial attacks is proposed.Based on the underactuated kinematics model of combat units,a control barrier function with relative motion states is proposed.The forward invariance of the safety set is established considering the maximal violation of safety bounds by the enemy.As a result,the motion planning algorithm can generate threat evasion maneuvers by configuring the linear and angular velocities of combat units.To solve the feasibility problem caused by multi-constraints'confliction when multiple hostile Unmanned Aerial Vehicles(UAV)are launched by the enemy,the relaxation variable is introduced into the constraints based on the evaluated enemies'threats.On this basis,an anti-air support algorithm of Unmanned Surface Vehicles(UsV)is proposed for penetration mission of UAV groups.The simulation results show that the proposed algorithm can achieve a high success rate of striking the sea surface target while the defending UAVs adopt the optimal pursuit strategy with speedadvantages.

关 键 词：对海突击 运动规划 控制障碍函数 威胁规避 空海协同 

分 类 号：V279[航空宇航科学与技术—飞行器设计]