基于层次分解策略的无人机多机协同航线规划方法研究  

A Trajectory Planning Method Based on Hierarchy Decomposition Strategy for Coordination of Multiple Unmanned Air Vehicles

作　　者：宋绍梅[1] 张克[1] 关世义[1] 

机构地区：[1]中国航天科工集团公司第三研究院,北京100074

出　　处：《战术导弹技术》2004年第1期44-48,共5页Tactical Missile Technology

摘　　要：针对要求同时 (依次 )到达目标 ,无人机团队生存概率最大这种协同要求下的航线规划问题 ,提出了一种基于层次分解策略的方法 ,将整个动态、大规模、强耦合的优化问题化解为三个层次 :航线规划层、协同规划层和航线平滑层 .仿真结果表明该方法是有效、可行的 .A decomposition strategy is proposed for achieving the objective to maximize the survivability of unmanned air vehicle(UAV)team,while constraining the UAVs to arrive at the target simultaneously(or sequentially).The approach decentralizes the large scale,dynamic and high coupled optimization into three agents: path planning,cooperative manager and trajectory smoother.Simulation results demonstrating the feasibility of the approach are presented.

关 键 词：无人机 协同作战 航线规划 VORONOI图 最优控制 

分 类 号：V249.122.3[航空宇航科学与技术—飞行器设计]