| 多目标时空同步协同攻击无人机任务分配与轨迹优化 |
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| 引用本文： | 张云飞,林德福,郑多,程子恒,唐攀. 多目标时空同步协同攻击无人机任务分配与轨迹优化[J]. 兵工学报, 2021, 42(7): 1482-1495. DOI: 10.3969/j.issn.1000-1093.2021.07.016 |
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| 作者姓名： | 张云飞 林德福 郑多 程子恒 唐攀 |
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| 作者单位： | (北京理工大学 宇航学院, 北京 100081) |
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| 基金项目： | 国家自然科学基金项目(61903350) |
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| 摘 要： | 针对复杂战场环境下分布式无人机对多目标协同打击任务,提出多目标攻击的任务分配与轨迹优化算法.建立典型多目标打击的任务场景和无人机模型;基于Delaunay三角形理论,以禁飞区为节点构建搜索地图;运用A*算法实现威胁最小的单机路径搜索;在无人机动力学约束和能耗损失最小的基础上,引入时间调节因子,采用基于贝塞尔曲线的分布式...
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| 关 键 词： | 无人机 飞行器设计 多目标攻击 分布式协同 任务分配 轨迹优化 时空同步 |
Task Allocation and Trajectory Optimization of UAV for Multi-target Time-space Synchronization Cooperative Attack |
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| ZHANG Yunfei,LIN Defu,ZHENG Duo,CHENG Ziheng,TANG Pan. Task Allocation and Trajectory Optimization of UAV for Multi-target Time-space Synchronization Cooperative Attack[J]. Acta Armamentarii, 2021, 42(7): 1482-1495. DOI: 10.3969/j.issn.1000-1093.2021.07.016 |
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| Authors: | ZHANG Yunfei LIN Defu ZHENG Duo CHENG Ziheng TANG Pan |
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| Affiliation: | (School of Astronautics, Beijing Institute of Technology, Beijing 100081, China) |
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| Abstract: | A task allocation and trajectory optimization algorithm for multi-target attack is proposed for the coordinated attack task of distributed UAVs attacking multiple targets in a complex battlefield environment. The typical multi-target strike mission scenarios and UAV models are established. A search map with no-fly zones as nodes is constructed based on Delaunay triangle theory. A* algorithm is used to achieve the least threatening single-aircraft path search. In terms of UAV dynamics constraints and minimum energy loss, the time adjustment factor is introduced and the distributed UAV time-space synchronization trajectory optimization method based on Bezier curve is adopted to obtain the optimized trajectory for simultaneous attack on multiple targets. A trajectory tracking controller was designed for simulation track of pre-planned trajectory. The simulated results show that the proposed multi-target attack task allocation and trajectory optimization method can achieve multi-angle, time-space synchronization, and distributed coordinated attack on multiple targets, and it has strong robustness against interference such as noise and wind gusts. |
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| Keywords: | unmannedaerialvehicle flightvehicledesign multi-targetattack distributedcooperation taskallocation trajectoryoptimization time-spacesynchronization |
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