时空散布下无人机集群空中加油集结路径规划  

Path Planning for Aerial Refueling Rendezvous of UAV Clusters under Spatiotemporal Distribution

作　　者：李晨玉 邢卓琳 苏子康 荆献勇[2] 王宏伦[3] LI Chenyu;XING Zhuolin;SU Zikang;JING Xianyong;WANG Honglun(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Aviation Combat Service Academy,Air Force Aviation University,Changchun 130022,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]空军航空大学航空作战勤务学院,长春130022 [3]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《无人系统技术》2024年第5期13-23,共11页Unmanned Systems Technology

基　　金：航空科学基金(2022Z023052003)。

摘　　要：随着无人机集群作战成为现代军事行动的关键,实现多无人机协同空中加油已成为亟待解决的问题。针对时空散布环境下的空中加油集结,提出了一种融合一致性控制与改进扰动流体算法的多集群加、受油机集结路径规划方法。首先,基于多无人机集群的动态约束和空中加油需求,构建了路径规划数学模型。其次,提出了一种融合一致性控制与改进扰动流体算法的加、受油机航路规划方法,以解决多机空中加油集结过程中的碰撞规避与编队飞行问题。然后,采用速度-时间调整策略,确保无人机集群能够在加油区域实现同步集结。最后,通过仿真验证,所提算法成功实现了4个机场起飞的1个加油机集群和1个受油机集群的空中加油集结任务,有效验证了算法的安全性和高效性,为无人机集群空中加油航路规划提供了新的解决方案,也为未来大规模集群协同作战中的集结路径规划提供了有益参考。As Unmanned Aerial Vehicle(UAV)cluster operations become a critical component of modern military missions,coordinated aerial refueling for multiple UAVs is urgent.In response to the challenge of aerial refueling rendezvous under spatiotemporal distribution,this paper proposes a multi-UAV refueling path planning method that integrates consensus control with the Improved Interfered Fluid Dynamical System(IIFDS)algorithm.Firstly,a mathematical model for multi-UAV path planning is constructed,based on the dynamic constraints of multi-UAV clusters and aerial refueling demands.Then,a path planning method that combines consensus control and the IIFDS algorithm is proposed to solve collision avoidance and formation distance constraints during the aerial refueling rendezvous process.A speed-time adjustment strategy is adopted to ensure that the UAV clusters achieve synchronized rendezvous in the refueling area.Finally,simulation results show that the algorithm completes the aerial refueling rendezvous task of 8 UAVs from 4 airports,effectively verifying the safety and efficiency of the method.This study provides an aerial refueling path planning solution and offers valuable insights for future large-scale swarm coordination and rendezvous mission planning.

关 键 词：集群加油 空中加油 路径规划 多无人机 改进扰动流体算法 障碍规避 协同策略 

分 类 号：V249[航空宇航科学与技术—飞行器设计]