多架无人机协同航路规划方法研究

根据敌方防御区域内雷达，导弹等威胁阵地的具体分布情况，采用划分Voronoi多边形的方法制订初始航路，然后对初始航路进行了合理的离散处理，最后采用动态链类比法调整航路，航程并对航路进行光顺处理，提出了一种协调多架无人机（UAVs）于同一时间到达目标点的航路规划方法，用数字仿真技术对该方法进行了验证，结果表明该方法是可行的。

Research on Method of Multiple UAVs Cooperative Path Planning

An initial path from the projection start position to the target position can be devised by constructing a Voronoi diagram based upon the locations of the threats. Then the initial path is discretized for adjustment and smoothing. At last the desirable paths to the target are obtained by simulating the dynamic chain in a potential field. The result for multiple vehicles is a set of smooth and flyable paths with equal length that reduces exposure to threats. This is the path planning strategy developed for the coordinated multiple unmanned vehicles(UAVs). The simulation result shows that this strategy works well and makes it possible for the simultaneous arrival of multiple UAVs at the target.