多架无人机的协同攻击航路规划

针对多架无人机协同攻击同一目标问题,提出了一种航路规划方法.首先根据已知的导弹、雷达等威胁的位置,通过Voronoi图建立初始进入航路,并利用B样条曲线修正初始航路产生无人机可飞航路,然后对多架无人机的航路进行协同修正以满足协同攻击要求.最后对无人机的退出航路规划进行了研究分析,并结合具体问题进行了仿真检验.

Coordinated Attack Path Planning for Multiple UAVs

A path planning strategy is developed for coordinated attack of multiple unmanned Aerial vehicles(UAVs) in this paper.An initial entrance route can be found by constructing a Voronoi diagram according to the location of threats.Make sure that the entrance route is feasible by using B spline curves to modify the initial entrance route.Coordinated attack paths for several unmanned aerial vehicles are obtained according to conditions of coordinated attack.Finally the exit route from the target to the start position is researched,and the simulation is processed.